Research on Dynamic Performance of Quadruped Robot Based on Rigid Flexible Coupling

The footed animals have excellent mobility and the ability to handle different external environments during motion. Quadruped robots have the advantages of strong load-bearing capacity, good stability, and good overall performance and therefore have a broad application prospect. In dynamics simulation based on ADAMS software, the mechanism being analyzed is generally considered rigid, i.e., the mechanism is deemed not to produce elastic deformation. However, the mechanism in this paper moves with a variable speed almost all the time. As a result, some components will have large elastic deformation under the action of external forces and inertia forces. Therefore, deformations cannot be neglected. It is necessary to transform the analyzed object into a flexible body for analysis and to conduct an in-depth study of its elastic dynamics model to study the dynamic performance of the mechanism more accurately and to understand the coupling mechanism between the flexible and rigid components of the quadruped robot and its dynamic performance. This paper studied a dynamics simulation analysis method for a rigid-flexible coupling system of quadruped robot. Established the flexible body model, quadruped robot rigid-flexible coupling dynamic model is established by ANSYS and ADAMS and analyzed the effect of elastic deformation simulation and rigid body simulation on the robot walking gait. In addition, we also analyze the robot walking in the process of stress and strain. Results show that the rigid-flexible coupling model and the actual situation more similar, more realistic reflection of the working performance of the robot, which provides an important basis for further gait planning, structure design and optimize of the quadruped robot.