OPTIONAL DESIGN OF LEG STRUCTURE OF BIONIC QUADRUPED ROBOT

摘要

A kind of new bionic quadruped robot-Hound was designed. Determined the structure of the robot body and geometry relationships based on the bionics research, especially the structure of legs which was the root of robot action. According to the problem of abundant leg segments and complicated structure, studied on achieving the optimal design of leg structure so as to increase the workspace area of robot leg and improve the flexibility of robot body. Found the best length ratio of leg segments through the analysis of the workspace, flexibility, obstacle crossing height of robot. These research results provided the reliable theoretical basis for the structure optimization of robot leg and could greatly promote the motor ability of hydraulic quadruped robot.