Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

摘要：

　　This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanisms motion to capture the dynamic characteristics of the quadruped robot.This paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot end.In addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the structure.Synthesizing all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

作者: Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu

作者单位: Intelligent Robotics Institute, State Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering, Beijing Institute of Technology Nandajie, Zhongguancun, Haidian, Beijing, 100081, China

会议类型: 国际会议

会议名称: 2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

会议地点: 北京

会议语种:英文

页码: 626-632

在线出版日期: 2013-05-25（万方平台首次上网日期，不代表论文的发表时间）