Structure design of a quadruped walking robot with mission of piling

ZHANG Ben1，BIAN Xingao2，ZHU Denglin2
（1College of Mechanical Engineering， Sanjiang University， Nanjing 210012， China;
2College of Mechanical Engineering， Hohai University， Changzhou 213000， China）

Abstract：  In order to solve the problems of entering the site of piling， a kind of structure design was described for the quadruped robot Structural analysis was described for the quadruped robot， which includes machine frame， legs， joints and feet One leg has three degrees of freedom structure with three joints， rack and hip， hip and upper arm， upper arm and lower arm respectively use revolve connection Drive design and inverse kinematics analysis of JQRI00 quadruped robot were described on the basis of structural design， which laid the foundation for the gait planning and kinematics analysis The results show that， JQRI00 quadruped robot foot can be achieved within a certain range of space anywhere The robot can meet the requirements of entering the site of piling and move freely
Key words： piling; quadruped robot; hydraulic drive; structure design