Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait
The single-leg of quadruped robot is the main support unit of the whole robot，and it is also the motion unit of the bottom layer of quadruped robot. Therefore，the design of single-leg will directly affect the movement ability of quadruped robot. Aiming at the Trot gait characteristics of quadruped r...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-11-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.016 |
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| _version_ | 1841547309722107904 |
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| author | Yuegang Tan Xinyu Dong Tianqi Hu |
| author_facet | Yuegang Tan Xinyu Dong Tianqi Hu |
| author_sort | Yuegang Tan |
| collection | DOAJ |
| description | The single-leg of quadruped robot is the main support unit of the whole robot，and it is also the motion unit of the bottom layer of quadruped robot. Therefore，the design of single-leg will directly affect the movement ability of quadruped robot. Aiming at the Trot gait characteristics of quadruped robot，a new type of single-leg structure adapted to Trot gait is designed，the structure of the new single-leg is optimized from the perspective of size optimization. The numerical results show that the optimized single-leg improves significantly in two aspects，such as increasing the working space and reducing the driving torque，which can be integrated into the whole quadruped robot system as the bottom structure，and also provide some references for the whole quadruped robot structure design. |
| format | Article |
| id | doaj-art-0dbf0d8a2aef43f5a12b53da6390620b |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-0dbf0d8a2aef43f5a12b53da6390620b2025-01-10T14:47:26ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-11-01459910820727550Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot GaitYuegang TanXinyu DongTianqi HuThe single-leg of quadruped robot is the main support unit of the whole robot，and it is also the motion unit of the bottom layer of quadruped robot. Therefore，the design of single-leg will directly affect the movement ability of quadruped robot. Aiming at the Trot gait characteristics of quadruped robot，a new type of single-leg structure adapted to Trot gait is designed，the structure of the new single-leg is optimized from the perspective of size optimization. The numerical results show that the optimized single-leg improves significantly in two aspects，such as increasing the working space and reducing the driving torque，which can be integrated into the whole quadruped robot system as the bottom structure，and also provide some references for the whole quadruped robot structure design.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.016Quadruped robotSingle-legStructure designSize optimization |
| spellingShingle | Yuegang Tan Xinyu Dong Tianqi Hu Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait Jixie chuandong Quadruped robot Single-leg Structure design Size optimization |
| title | Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait |
| title_full | Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait |
| title_fullStr | Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait |
| title_full_unstemmed | Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait |
| title_short | Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait |
| title_sort | structure and size optimization of quadruped robot single leg structure for trot gait |
| topic | Quadruped robot Single-leg Structure design Size optimization |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.11.016 |
| work_keys_str_mv | AT yuegangtan structureandsizeoptimizationofquadrupedrobotsinglelegstructurefortrotgait AT xinyudong structureandsizeoptimizationofquadrupedrobotsinglelegstructurefortrotgait AT tianqihu structureandsizeoptimizationofquadrupedrobotsinglelegstructurefortrotgait |