Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait

Yuegang Tan; Xinyu Dong; Tianqi Hu

doi:10.16578/j.issn.1004.2539.2021.11.016

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Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait

Design· Calculation | 更新时间：2022-11-10

- Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait
- Journal of Mechanical Transmission Vol. 45, Issue 11, Pages: 99-108(2021)
- 作者机构：
  
  1.武汉理工大学机电工程学院，湖北武汉 430070
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.11.016
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谭跃刚,董新宇,胡天麒.面向Trot步态的四足机器人单腿结构及其尺寸优化[J].机械传动,2021,45(11):99-108.

Tan Yuegang,Dong Xinyu,Hu Tianqi.Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait[J].Journal of Mechanical Transmission,2021,45(11):99-108.
谭跃刚,董新宇,胡天麒.面向Trot步态的四足机器人单腿结构及其尺寸优化[J].机械传动,2021,45(11):99-108. DOI： 10.16578/j.issn.1004.2539.2021.11.016.

Tan Yuegang,Dong Xinyu,Hu Tianqi.Structure and Size Optimization of Quadruped Robot Single Leg Structure for Trot Gait[J].Journal of Mechanical Transmission,2021,45(11):99-108. DOI： 10.16578/j.issn.1004.2539.2021.11.016.

摘要

四足机器人的单腿是整机的主要支撑单元，同时也是四足机器人底层的运动单元。因此，单腿的设计会直接影响四足机器人的运动能力。针对四足机器人最为常见的Trot步态运动特点，设计了一种能适应Trot步态的新型单腿结构，并从尺寸优化的角度对该新型单腿进行结构优化。数值计算的结果表明，优化后的单腿在增大工作空间范围、减小驱动力矩等方面提升显著，可作为底层结构集成到四足机器人整机系统中去，同时也为四足机器人本体的结构设计提供了一定的理论参考。

Abstract

The single-leg of quadruped robot is the main support unit of the whole robot，and it is also the motion unit of the bottom layer of quadruped robot. Therefore，the design of single-leg will directly affect the movement ability of quadruped robot. Aiming at the Trot gait characteristics of quadruped robot，a new type of single-leg structure adapted to Trot gait is designed，the structure of the new single-leg is optimized from the perspective of size optimization. The numerical results show that the optimized single-leg improves significantly in two aspects，such as increasing the working space and reducing the driving torque，which can be integrated into the whole quadruped robot system as the bottom structure，and also provide some references for the whole quadruped robot structure design.

关键词

四足机器人单腿结构设计尺寸优化

Keywords

Quadruped robotSingle-legStructure designSize optimization

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