四足机器人运动分析和仿真

AbstractThis paper mainly studies the gait problem of four-legged robot withclosed chain five-bar mechanism.Currently,all foot robots on the marketare basically knee or elbow type robots with leg structure,and few footrobots with closed chain five-bar mechanism.However,the four-leggedrobot with closed chain five-bar mechanism as the leg structure has a goodpotential for movement,which is matched with the best-performingfour-legged animal and relatively low production cost.This paper on gait research is based on the joint simulation of Adamsand MATLAB,in Adams to complete the virtual prototype setup,and thenthrough MATLAB control of the prototype movement,to achieve the purposeof simulating physical motion.Through continuous simulation andimprovement,the step and gait of four-legged robot are mainly studied.Keywords:closed chain five-bar mechanism,Quadruped robot,locomotor gait