Research on Trajectory Planning and Simulation on the Serial-parallel Leg of a Novel Quadruped Walking Robot
[1]Gao Jianshe,Wang Yuchuang,Liu Deping,et al.Research on Trajectory Planning and Simulation on the Serial-parallel Leg of a Novel Quadruped Walking Robot[J].Journal of Zhengzhou University (Engineering Science),2018,39(02):23-27.[doi:10.13705/j.issn.1671-6833.2017.05.008]
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Journal of Zhengzhou University (Engineering Science)[ISSN
1671-6833/CN
41-1339/T] Volume:
39
Number of periods:
2018 02
Page number:
23-27
Column:
Public date:
2018-03-30
- Title:
- Research on Trajectory Planning and Simulation on the Serial-parallel Leg of a Novel Quadruped Walking Robot
- CLC:
- -
- Abstract:
- In order to improve the payload-weight ratio, a novel quadruped walking robot was presented. And aiming at the impingement in the process of movement of the quadruped walking robot, a low contact compact trajectory planning method using high order polynomial curve was used. Each leg of the robot was composed of a 3-RRR parallel mechanism which was connected in series with a rotating mechanism. The coordinate system was established based on D-H method. Based on the low contact compact algorithm and the uniform linear motion, the trajectory planning was carried out respectively for the swing phase and the support phase of the foot end of the serial-parallel leg. The trajectory of the foot end in the global coordinate system of the hip joint was calculated according to the inverse solution model. The four driving function of the leg was calculated using Matlab based on the inverse kinematics solution of the hybrid leg’’s kinematics model. Finally, the leg model was exported into the ADAMS, the motion simulation of the hybrid leg was carried out by using ADAMS after adding constraints and the drive. The result showed that the foot end of the hybrid leg achieved the goal of low impact, and the curve of foot end of the speed and acceleration was smooth. The simulation results were consistent with the theoretical results and the rationality and validity of the algorithm were verified. This research provided the foundation for the further research of robot’s gait planning and motion control.
- References:
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Last Update:
2018-04-02