Design and research of single leg walking mechanism of quadruped robot

摘要

A new single-degree-of-freedom quadruped robot leg walking mechanism is proposed to solve the problems of more drive elements, more complex structure and control system in existing single-leg walking mechanism. The principle scheme and structure design of the leg walking mechanism of the quadruped robot are completed according to the requirements of the foot end trajectory curve and the actual motion characteristics. The dimensions of each rod of the single-leg crank rocker mechanism to meet the “inverted D-type” motion law at the E point on the linkage are solved by using the Burmester four-rod mechanism integrated graphical method. The kinematic equations at the P point of the foot end of the proposed scheme are derived by using the kinematic analysis. By ADAMS simulation, the displacement and velocity curves at the P point of the foot end can well meet the requirements of the foot end movement law. The present methodology can not only achieve the goal of less driving elements and more simple design in single-leg walking mechanism, and can well meet the requirements of walking stability and smoothness of motion.