Optimization Design and Simulation of Single Degree of Freedom Legs of Quadruped Robots
Quadruped robots based on the bionic principle are the hot topic of many scholars at home and abroad. In order to satisfy the stationary motion requirements of quadruped robots, a non-impact foot trajectory form combining the improved constant velocity motion law in the vertical direction and the bi...
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Editorial Office of Journal of Mechanical Transmission
2024-03-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.03.007 |
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| author | Shi Huiwen He Jing Wang Zhijun |
| author_facet | Shi Huiwen He Jing Wang Zhijun |
| author_sort | Shi Huiwen |
| collection | DOAJ |
| description | Quadruped robots based on the bionic principle are the hot topic of many scholars at home and abroad. In order to satisfy the stationary motion requirements of quadruped robots, a non-impact foot trajectory form combining the improved constant velocity motion law in the vertical direction and the bionic motion law in the forward direction is proposed, and its piecewise function expression is derived. In order to solve the problems of multiple drives and weak leg stiffness of quadruped robots, a new leg mechanism with single degree of freedom is proposed, which is composed of two crank-rocker mechanisms, a synchronous belt drive and an external meshing cylindrical gear drive. The kinematics model of the mechanism is established and the coordinates of the foot end are derived. The optimal motion size and initial position of each component of the mechanism are optimized by using the genetic algorithm and the general nonlinear optimization method with the approximation degree of non-impact foot trajectory as the objective. A 3D modeling software is used to build a simplified virtual prototype model, which is imported into Adams software for Trot gait simulation test, and the motion effect reaches the expected design. The proposed non-impact trajectory can be used as reference for foot trajectory planning of other legged robots. The optimal design method of the multi-link leg mechanism composed of two crank-rocker mechanisms provides a basis and innovative ideas for the leg design of legged robots. |
| format | Article |
| id | doaj-art-aa4639dc49e140d58cf2b6e00ad4871f |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-aa4639dc49e140d58cf2b6e00ad4871f2025-01-10T15:00:06ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-03-0148525850737847Optimization Design and Simulation of Single Degree of Freedom Legs of Quadruped RobotsShi HuiwenHe JingWang ZhijunQuadruped robots based on the bionic principle are the hot topic of many scholars at home and abroad. In order to satisfy the stationary motion requirements of quadruped robots, a non-impact foot trajectory form combining the improved constant velocity motion law in the vertical direction and the bionic motion law in the forward direction is proposed, and its piecewise function expression is derived. In order to solve the problems of multiple drives and weak leg stiffness of quadruped robots, a new leg mechanism with single degree of freedom is proposed, which is composed of two crank-rocker mechanisms, a synchronous belt drive and an external meshing cylindrical gear drive. The kinematics model of the mechanism is established and the coordinates of the foot end are derived. The optimal motion size and initial position of each component of the mechanism are optimized by using the genetic algorithm and the general nonlinear optimization method with the approximation degree of non-impact foot trajectory as the objective. A 3D modeling software is used to build a simplified virtual prototype model, which is imported into Adams software for Trot gait simulation test, and the motion effect reaches the expected design. The proposed non-impact trajectory can be used as reference for foot trajectory planning of other legged robots. The optimal design method of the multi-link leg mechanism composed of two crank-rocker mechanisms provides a basis and innovative ideas for the leg design of legged robots.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.03.007Quadruped robotLeg mechanismOptimization designNon-impact trajectory planningSimulation |
| spellingShingle | Shi Huiwen He Jing Wang Zhijun Optimization Design and Simulation of Single Degree of Freedom Legs of Quadruped Robots Jixie chuandong Quadruped robot Leg mechanism Optimization design Non-impact trajectory planning Simulation |
| title | Optimization Design and Simulation of Single Degree of Freedom Legs of Quadruped Robots |
| title_full | Optimization Design and Simulation of Single Degree of Freedom Legs of Quadruped Robots |
| title_fullStr | Optimization Design and Simulation of Single Degree of Freedom Legs of Quadruped Robots |
| title_full_unstemmed | Optimization Design and Simulation of Single Degree of Freedom Legs of Quadruped Robots |
| title_short | Optimization Design and Simulation of Single Degree of Freedom Legs of Quadruped Robots |
| title_sort | optimization design and simulation of single degree of freedom legs of quadruped robots |
| topic | Quadruped robot Leg mechanism Optimization design Non-impact trajectory planning Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.03.007 |
| work_keys_str_mv | AT shihuiwen optimizationdesignandsimulationofsingledegreeoffreedomlegsofquadrupedrobots AT hejing optimizationdesignandsimulationofsingledegreeoffreedomlegsofquadrupedrobots AT wangzhijun optimizationdesignandsimulationofsingledegreeoffreedomlegsofquadrupedrobots |