四足机器人结构设计

北京理工大学珠海学院2020届本科生毕业设计AbstractQuadruped robots have been studied in the 19th century,but it was not until the end ofthe 20th century that breakthroughs were made in terms of mechanical structure and controltechnology.Quadruped robot has been widely used in military,and it is only a matter of timebefore it is popularized in civilian.It is better than wheeled robot because it can adapt to variouscomplex terrain and can carry certain load.In foreign countries,quadruped robots have beenapplied in the logistics industry.Now there is also a upsurge of research on quadruped robots inChina.A large number of companies led by Yushu technology have released information aboutmass production and market launch of quadruped robots around the world.In this paper,the mechanical structure design of quadruped robot is mainly based on thesimple structure of quadruped robot.On the basis of the original eight degrees of freedom,theeight degrees of freedom scheme is optimized,and the experience is gained,which lays thefoundation for the design of twelve degrees of freedom quadruped robot.And provide a cheapdesign scheme of 8-DOF quadruped robot,which can reduce the research threshold of quadrupedrobot in Chinese universities to a certain extent.Keywords:Quadruped robot;Electric control;Optical torque sensor;Test and simulation;Synchronous wheel calculation