The Design And Simulation Of The New Wheel-legged Robot

Recently, due to its strong adaptability for various landforms, many scholars both athome and abroad have paid more attention to the wheel-legged robot, and also conductedquite a few in-depth studies. Based on the experience from former research, the authordesigns a new wheel-legged trasformation robot whose leg is serial-parallel structured.This structure improves the bearing capacity and flexibility of the robot and can be widelyused in disaster relief, military, entertainment and other fields.According to the principles of bionics, the author ensures the overall layout of therobot and designs the legs and wheel-legged conversion structure of the robot. The robotcan move fast on the smooth surface with its four wheels; when it is moving on thecomplicated road surfaces, the robot can transform into hexapod structure to walk. Theauthor establishes a three-dimensional model about the whole structure of the robot,conducts the position kinematics reverse solution analysis and determines the three-dimensional diagram of the work place of the leg structure according to the influencingfactors on the leg mechanism workspace. The author also carries out the positivekinematics solution analysis and performance analysis on the basis of operator which isserved by the wheel-legged robot.Then, the author analyzes the static stability and dynamic stability of the robotrespectively and ensures the walking gait of the wheel-legged robot being the quadrupedrobot. Finally the author conducts a trajectory planning of the robot foot and makekinematics simulation on the cases of flat roads and roads with obstacles.