Design and simulation for a hydraulic actuated quadruped robot

被引：122
|
作者：
Rong, Xuewen [1 ]
Li, Yibin [1 ]
Ruan, Jiuhong [2 ]
Li, Bin [1 ]
机构：
[1] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China
[2] Shandong Jiaotong Univ, Adv Vehicle & Robot Inst, Jinan 250031, Peoples R China
来源：
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2012年 / 26卷 / 04期
关键词：
Co-simulation; D-H transformation; Kinematics; MSC.ADAMS; Quadruped robot; Trot gait; STRIDE FREQUENCY; WALKING; SIZE; GAIT;
D O I：
10.1007/s12206-012-0219-8
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line, which greatly reduces the velocity and acceleration fluctuations of the torso along forward and vertical directions. Finally, dynamics co-simulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders.
引用
收藏
页码：1171 / 1177
页数：7
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