Design and Analysis of Serial Mechanical Leg of Quadruped Lunar Robot

Abstract

Intelligent robots have played an important role in missions such as reconnaissance and resource utilization in unmanned lunar exploration in recent years. A new quadruped lunar robot was designed to solve problems of weak adaptability and poor obstacle surmounting ability of wheeled mobile robot in complex terrain environment. The mechanical leg structure of quadruped robot with 3 active degrees of freedom was designed based on the analysis of the physiological structure of canine legs. The kinematic analysis of the mechanical leg was carried out and the mechanical structure design was completed. The serial mechanism is applied to the leg structure of quadruped robot, which can satisfy the load and make the control of the mechanical leg easier and more efficient. The results of motion simulation show that the quadruped robot can smoothly cross a 250 mm high obstacle and has the moving speed of 500 m/h. The advantages of quadruped robot in rugged roads, its flexibility and adaptability also provide a good foundation for its later use as a mobile platform equipped with scientific instruments.