A Hybrid Mobile Mechanism With Four Wheels And Two Legs Composed By 2-RPR Parallel Mechanism

A study of the mobile mechanism of a disaster rescue robot with two 2-RPR parallel mechanism legs is proposed in this paper. The mechanical system is composed by the legged mobile system, the wheeled mobile system and the body. The legged mobile system can be equivalent to a 2-RPR parallel mechanism which endows the robot with abundant function for surmounting obstacles.In Chapter 2, the design object and the draft of design concept are proposed, and some necessary gaits are discussed In Chapter 3, in order to verifying the gaits, the locomotivity of is simulated by ADAMS software. In Chapter 4, the mobility, the singularity and the workspace of the legged mechanism is analyzed by treating the legged mechanism as a 2-RPR planar parallel mechanism. This is a base of kinematical analysis of the legged mechanism and gives a support of control system study. In Chapter 5, the stability, the efficiency and the selection of the motor of mobile mechanism of the "walking" gait is mainly discussed in this sector by the dynamic analysis. In Chapter 6, two real problems, body flip and step climbing, are analyzed. The mechanism theory is used in dealing with these problems. The relationship of the expansion links and the mobile capability is gotten by treating the whole robot as a linkage mechanism. In Chapter 7, the whole mechanical system is instructed and the principle of the legged mechanism is described. At last, the prototype of the robot is proposed as a physical basis for the following experiment.