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This paper presents a new type of closed-chain walking leg mechanism, which can swing through a crank-rocker mechanism, and a crank-slider mechanism to achieve leg extension. On this basis, a quadruped robot is constructed, the crawling gait planning is carried out, and the leg swinging time sequence of the robot crawling is given. Based on ADAMS simulation software, the virtual prototype model of quadruped robot is established, and the relative simulation parameters are set up to simulate the robot motion. The displacement curve and velocity curve of the body centroid and foot end of the quadruped robot are obtained. The simulation results show that the quadruped robot can walk stably in the crawling gait.

Crawling Gait Planning and Simulation Analysis of Closed-chain Walking Leg Robot