Motion Performance Analysis and Application of Quadruped Robot for Safety Production Supervision

Aiming at the special application environment of substation safety production supervision and the requirements of the carrying inspection instrument on the motion smoothness, the motion performance of the quadruped robot, and the method to improve the motion smoothness are analyzed. Firstly, the overall design of the quadruped robot for safety production supervision is carried out, and the kinematic analysis of the single leg of the quadruped robot is carried out to derive the motion angle of inverse kinematics. Then, the virtual prototype model is constructed based on Adams software. And driving the joint connection of the drive wheels, the simulation analysis is carried out before and after the horizontal constraint of the quadruped robot body, respectively. The curves of the robot’s center-of-mass displacement and velocity, the contact force, the joint torque, the drive torque curve, and the curve of the power consumption are obtained, which proves the idea that keeping the body of the quadruped robot horizontal can help to improve the quadruped robot kinematics performance in the inspecting process. Finally, the developed prototype is successfully applied in the substation safety supervision.