Simulation and experiment on the serial-parallel leg of a novel quadruped walking robot

A novel quadruped walking robot with four identical serial-parallel legs of four degrees of freedom was designed, which has both big workspace and high movement accuracy. Based on the hybrid leg of the quadruped walking robot, the trajectory planning of the foot end was carried out. According to the trajectory, the driving function of the motors was calculated by MATLAB and the kinematics simulation of the series-parallel leg was actualized by means of ADAMS. Compared with the trajectory of the function of trajectory planning, the kinematics simulation results were consistent with the trajectory planning. What's more, the experiment was implemented successfully on the prototype of the hybrid leg, and the result showed that the foot end could move along the given trajectory. The research result verified the rationality and feasibility of the novel Serial-parallel leg and also built the foundation for the following experiments, gait planning, motion control and the further optimization design of the leg mechanism of the hexapod robot.