Research on the Walking Leg Mechanism of Bionics Quadruped Robot with Elastic Damping Element

摘要

Based on the bionics,a kind of walking leg mechanism with elastic damping element was designed and applied to bionic quadruped robot.The general design of walking leg mechanism is introduced.The mechanism and principle of the elastic damping element is analyzed while its mathematic modeling and dynamic Analyzing is executed.With pacing gait as an example,the rigid leg and the elastic leg are modeled by Pro/E,and their models are simulated and analyzed by Adams separately.The simulation results that the ground impact of a walking bionic quadruped robot can be effectively reduced by the application of mechanism with elastic damping element.