Force Balance Control and Optimization of the Quadruped Hydraulic Robot Based on Materials Structure Design

摘要

In this paper, in order to meet the requirements of stable foot support and balanced walking of quadruped hydraulic robot, a new control method is proposed. The "hard" contact between the feet of the quadruped hydraulic robot and the ground are changed into "semi flexible" contact toreduce the impact force produced by the contact and collision of the two and reduce the unbalance of the force. The designed "semi flexible" scheme was to coat the "semi flexible" modified polytetrafluoroethylene (PTFE) material on the surface of the bottom material of the robot's foot. Themodification of PTFE was optimized by SRIM, and the optimization scheme was selected for experimental study to obtain the Al_(2)O_(3)/PTFE material for which the abrasive resistance met the requirement of robot motion. It was also used in robot force imbalance control experimentresearch optimization. The study clearly revealed that it can effectively reduce the power of the impact force caused by the contact and collision of the feet of the quadruped robot and the ground, reduce the swing and the unbalance of the motion force of the quadruped robot, and meet therequirements of the precise positioning and the force balance walking of the motion of quadruped hydraulic robot to a certain extent.