Design, modeling, simulation and experiments of bio-inspired quadruped robot

Pao Yue-kong Library Electronic Theses Database

Design, modeling, simulation and experiments of bio-inspired quadruped robot

 

Author: Shen, Zhengyuan
Title: Design, modeling, simulation and experiments of bio-inspired quadruped robot
Degree: M.Sc.
Year: 2016
Subject: Robots -- Motion.
Robots -- Dynamics.
Robots -- Motion -- Simulation methods.
Hong Kong Polytechnic University -- Dissertations
Department: Faculty of Engineering
Pages: xi, 112 pages : color illustrations
Language: English
InnoPac Record: http://library.polyu.edu.hk/record=b2917036
URI: http://theses.lib.polyu.edu.hk/handle/200/8607
Abstract: The quadruped robot, which has advantages of good surrounding adaptability and high movement agility, is applied to various fields such as rescue realm, mine sweeping, adventure, entertainment, military affairs, etc. So the research on quadruped has become very important in robotic research area. The main research contents in this thesis include following parts: 1. Virtual prototype technology as well as current research situation and development trend of quadruped robot are briefly introduced. The design plan and research significance of quadruped robot in this thesis are put forward. 2. A motion reference coordinate system of this quadruped robot and its simplified-structure of the multi-rigid body dynamics model are established. After kinematic and dynamic analysis, the forward kinematic equation, inverse kinematic equation and Jacobian matrix of the quadruped robot are presented. It offers theoretical foundation for the following simulation analysis based on virtual prototype. 3. Based on the actual geometrical parameters and physical characteristics of quadruped robot prototype, the 3D entity model of the quadruped robot is constructed in SolidWorks. Then the model is imported into ADAMS platform. 4. The quadruped robot is simulated in ADAMS using its planned gait, and a series of important results is acquired which verifies the rationality and exactness of design plan and structure design, thus providing valuable data information for the physical quadruped robot design. 5. The physical quadruped is also built for performing the required gaits including walk gait and trot gait which have been simulated in the above sections.

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