The Kinematics Analysis and Configuration Optimize of Quadruped Robot

摘要

In order to obtain the optimal structure parameters of a quadruped robot, in this paper, a four-legged mammal (dog) is used as a model, and a quadruped robot configuration framework is set up by simplification of the model's structure. In addition, the kinematics model of this robot is established. Based on the analysis of quadruped robot's kinematics characteristics, and taking the flexibility ratio for evaluation criterion, structure parameters are optimized. And then, kinematics simulation of the robot is done in ADAMS software. The simulation results validate the rationality of configuration design of the quadruped robot.