The leg mechanism design of a new quadruped walking robot

Abstract

Combining the several typical postures of the new passive leg mechanical structure,the gait of the robot is planned. According to the design parameters,the simulation robot model is designed with UG software and the model is put into the software of ADAMS. After added restriction and dynamics, the kinematics simulation is carried out. It is found by simulation analyisis that the impact force exerted on the robot leg is so big that the crus structure need to be im proved.. Then the crus structure is redesigned. Simulation results indicate that the impact of the new structure obviously reduced,then the leg mechanism design of the quadruped robot is optimized.