Parameter design and simulation verification of leg hydraulic cylinder for quadruped robot

In order to realize the walking stability of quadruped robot in different road conditions and improve work efficiency, the parameters of leg hydraulic cylinder of quadruped robot are designed in this paper. According to the geometrical relation of the leg structure, the data relation between the Angle parameter and the length parameter of the hydraulic cylinder in each joint of the robot is obtained, and the stroke parameter of the hydraulic cylinder is calculated. Based on the joint simulation of ADAMS and MATLAB, the calculated hydraulic cylinder parameters are effectively verified through the simulation experiment of foot robot crossing the obstacle. The experimental results show that the hydraulic cylinder on the thigh of the quadruped robot has a larger thrust, while the hydraulic cylinder on the calf has a smaller thrust, but the maximum thrust value of the hydraulic cylinder in the same part is about the same. Therefore, when designing the hydraulic cylinder, the hydraulic cylinder on the thigh and the calf are designed to be the same size respectively, which can meet the stability of the four-legged robot walking in different road conditions.