The structure design and simulation analysis of a quadruped robot

Xuefeng Jiang

doi:10.1117/12.2627750

11 March 2022 The structure design and simulation analysis of a quadruped robot

Xuefeng Jiang

Proceedings Volume 12160, International Conference on Computational Modeling, Simulation, and Data Analysis (CMSDA 2021); 1216018 (2022) https://doi.org/10.1117/12.2627750
Event: International Conference on Computational Modeling, Simulation, and Data Analysis (CMSDA 2021), 2021, Sanya, China

Abstract

To study the gait planning of a quadruped robot when walking on parallel ground, this paper takes a self-developed directdrive quadruped robot as the research object and conducts research from both structure and simulation. The method used here is the combination of SolidWorks and ADAMS. Simulation calculations such as geometric processing, setting constraints, and designing contact are performed on the quadruped robot. At the same time, we define the 8 motor drives and come up with the gait planning, a method for processing the working conditions of the quadruped robot on flat ground is proposed. The results show that the displacement curve of the robot presents a straight-up motion law, the maximum displacement reaches 900mm, the overall motion tends to be sinusoidal, and the motion speed is about 75mm/s. This indicates that the robot has good smooth movement performance.

Citation Download Citation

Xuefeng Jiang "The structure design and simulation analysis of a quadruped robot", Proc. SPIE 12160, International Conference on Computational Modeling, Simulation, and Data Analysis (CMSDA 2021), 1216018 (11 March 2022); https://doi.org/10.1117/12.2627750

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