Structure optimization and gait analysis of parallel quadruped robot

Ying Tian; Weiting Shen; Qiang Zhang; Jinpeng Su; Wanshun Zang

doi:10.1117/12.2625261

12 December 2021 Structure optimization and gait analysis of parallel quadruped robot

Ying Tian, Weiting Shen, Qiang Zhang, Jinpeng Su, Wanshun Zang

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 1212719 (2021) https://doi.org/10.1117/12.2625261
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

Aiming at the problems of structure and control of parallel quadruped robot, this paper optimizes the structure of parallel quadruped robots, and analyzes the gait. Firstly, a simplified three-dimensional model is constructed and the force analysis and lightweight processing based on topology optimization carried out for the legs and body parts by Abaqus. Secondly, on the basis of theory, the trajectory of robot foot is reasonably planned and corresponding trajectory equation is deduced. The curve of mechanical leg foot is drawn by using Matlab, and the corresponding angle of motor is obtained by using inverse kinematics analysis. Finally, raspberry PI microcomputer is used as the main control, STM32F407 single chip microcomputer is used as the lower computer, and DJI M3508 motors are used as the driving unit to build the robot experimental model. Based on VMC algorithm, PID algorithm and inverse kinematics solution, the basic motion of quadruped robot diagonal gait is realized, and then the feasibility of mechanical structure and control method is verified.

Citation Download Citation

Ying Tian, Weiting Shen, Qiang Zhang, Jinpeng Su, and Wanshun Zang "Structure optimization and gait analysis of parallel quadruped robot", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 1212719 (12 December 2021); https://doi.org/10.1117/12.2625261

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