Mechanism Design And Movement Simulation Of Leg-wheeled Robot

Leg-wheeled hybrid robot combines advantages of walking robots and wheeled robots. The robot can automatically switch to walking and roller skating according to different environments. It can adapt to the topography very well, also it has great stability and high energy efficiency, so it has been becoming high valued by researchers of various countries. A new type driven wheel leg-wheeled hybrid robot based on Inner Mongolia fund of nature and science (NO.200607030701) is designed in this paper. The robot is designed with flexible mechanism of switching the wheel and leg, also with the characteristic of calf movement decoupling. And the truckle can auto-adapted to the complex state of roads when walking.Firstly, the robot is divided into parallel mechanism and series combined mechanism based on the conception due to the designed robot in this paper, and calculate the DOF separately. The design process of the leg drive system and the wheel leg switching technology of the robot are detailed described. The system inverse kinematics and forward kinematics calculation of the robot single leg and the whole kinematic chain is deduced. The kinematic equation of walking mechanism during movement process is researched.According to the mechanical joint limit constraints, the motion of range an analysis of the robot swinging leg is analyzed.Then some methods of judging robot stability and the influence about centre-of-gravity shift to static stability are described.Secondly,three-dimensional model of robot was built by Pro/E. The virtual prototype of robot was presented in ADAMS by the interface module Mechanism/Pro. Finally, all possible crawl gait based on assumed areas are comparatively studied in the light of the gait assumptions in the discussion.in connection with the gait’s supposition of this paper, we contrast and study all possible gaits. The best walking gait stability is demonstrated from several aspects such as energy consumption, efficiency and kinematic space under the condition of ensuring stability. Then the robot skating gait is derived from kinematics equations. And the gait simulation of robot is done by ADAMS/View. The displacement curve of the center of gravity and the required driving torque of every joint is got. At last, the feasibility of this design is showed by analyzing the simulation.