Mechanical design of the legs of hydraulically actuated quadruped bionic robot

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism´s motion to capture the dynamic characteristics of the quadruped robot. This paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed, capability of climbing obstacles and the workspace of its foot end. In addition, to achieve the optimization target of balancing the output force of each hydraulic cylinder, the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the structure. Synthesizing all these factors, the most satisfied structural parameters of the autonomous quadruped robot are selected.