Design And Analysis Of Multi-operation Mode Wheel-legged Robot

The wheel-legged robot has various modes such as wheeled mobile mode,legged mobile mode and wheel-legged composite mobile mode.Its excellent movement performance enables it to adapt to complex terrain,while the mobile robot with operational capability can switch between operating modes and mobile modes to better adapt to different terrains and complex environments,which has become a new development direction in the field of mobile robots.Based on this background,this paper proposes a wheel-legged robot with multi-operation mode,which has good mobility and operation ability.It can adapt to unstructured complex terrain and complete various operational tasks.This paper focuses on the design goals of the multi-operation mode wheel-legged robot,and designs various operating modes,moving forms and branch switching forms of the robot,gives the constraints that robot limb should meet,and proposes a variety of robot configuration schemes.Considering various factors such as the main application scenarios of the robot,flexible performance and ease of processing,the specific configuration scheme of the robot is determined.The kinematics analysis of the robot includes forward and inverse kinematics solutions as well as velocity and workspace solution.The position and attitude space of the robot are calculated,and the robot size is optimized according to the relationship between the attitude space and the size of the mechanism.The dynamic analysis of the robot is completed.By solving the dynamic coupling relationship between the robot operating part and the supporting part,the complete dynamic model of the robot in the cooperative mode is established.The mechanical performance evaluation index of the robot is given,and the attitude adjustment algorithm based on mechanical performance optimization is proposed.The effectiveness of the attitude adjustment algorithm is proved by theoretical calculation and simulation verification.,which lays a theoretical foundation for mode planning and prototype production.The robot motion mode planning and simulation is completed,and the robot's six-legged,four-legged and wheeled walking gait are analyzed,and the switching process between different gaits is given.For the three typical tasks in the real environment,three operating modes of the robot are proposed:mobile mode,self-cooperation mode and fixed operation mode.The V-REP simulation platform is used to verify the robot mode switching process and moving process under different terrains.Based on the theoretical calculation and simulation results,the multi-operation mode wheel-legged robot prototype was designed and fabricated,and the robot's walking and operation in different gaits was realized.The correctness of the robot design and theoretical calculation method was verified.