Kinematics analysis and simulation of miniaturization quadruped robot

WANG Peng， XV Xiao-xi， LI Ji-xiang， HAO Huan-rui， XIN Jing-lei
（School of Mechanical and Power Engineering， Harbin University of Science and Technology，
 Harbin 150080， China）

Abstract： In order to reduce energy consumption and improve effective working time of quadruped robot in the harsh environment，the structure scheme of miniaturization quadruped robot was designed. The motion model of the quadruped robot was described. The control system，the deceleration transmission mechanism，decomposition transmission mechanism and intermittent distribution mechanism were introduced. Aiming for the simplified model of the robot，kinematics analysis was studied on the basis of robot structure. The motion simulation of miniaturization quadruped robot was carried out with the ADAMS platform based on Pro/E model. The analysis of the walking state of bilateral leg was focused on in gait switching. The reason of velocity mutation was summarized. The results indicate that the miniaturization quadruped robot can achieve stable movement，and then it verifies reliability of the robot design.
Key words： quadruped robot； structural scheme design； kinematics analysis； gait transition