Applied Research of Agricultural Quadruped Robots

摘要

Four-legged robots are more and more widely used, especially in agriculture. Four-legged robots can not only be used for various agricultural tasks, but also be equipped with various sensors and equipment to collect and analyze farmland data to help farmers make scientific decisions and improve the efficiency and quality of agricultural production. In order to make the quadruped robot better serve agriculture, the system composition, software and hardware design of the robot are important. This paper introduces in detail the design and implementation of the mechanical, circuit and software parts of the quadruped robot. For the motion control of the single joint of the robot, a joint servo controller integrating DC motor motion control and driving is designed. The hardware adopts Raspberry Pi 4B, MG996R steering gear, PCA9685 steering gear drive board, KCD-11 ship switch, MP24825V5A step-down module, aircraft-mode lithium battery 7.4V 2200mAH and a variety of sensors. Experimental test results show that the designed quadruped robot has stable structure and good performance, which is more suitable for complex and dangerous environments.