Mechinical Analysis And Simulation Of A Novel Wheel-leg Hybrid Rescue Robot

Around the world, kinds of disasters occur sometimes due to the natural disasters, the terrorist activities and the accident. But, it is arduous and has limitations to impletment the relief work only by human power. Therefore, a novel wheel-leg hybrid rescue robot is proposed in this paper to help people complete kinds of complicated tasks. And, it adopts the(2-UPS+U)&R series-parallel leg mechanism and the characteristics of flexible working space, lower energy consumption, strong terrain adaptability and ect.Firstly, considering the requirements and working environment of the designed robot, the(2-UPS+U)&R series-parallel leg mechanism are determined and then the structure of the leg and whole robot are developed. Also, the degree of freedom of both the leg mechanism and the whole robot are solved.Secondly, the kinematics of the single leg mechanism and the whole robot are analyzed using the Vector Method. The mathematic models of the single leg mechanism both as swing leg and standing leg are established, meanwhile, its displacement, velocity and acceleration are analyzed with MATLAB software. Besides, the working space of the single leg mechanism is solved and mapped out with the Numerical Mechod, and the influence analysis of each structural size parameter on the workspace is conducted.Thirdly, the dynamics of the single swing leg and the whole robot are analyzed by Virtual Energy Method. The velocity, acceleration, and force of the single swing leg are obtained and its dynamics equations and active force/torque are solved as well as its numerical examples and relevant figures. Futhermore, maximum force/torque of the leg mechanism are analyzed.Finally, the stability, gait and trajectory of the rescue robot are analyzed. Based on that, the virtual prototype model of the wheel-leg hybrid rescue robot is established and its simulation is conducted and demonstrated. Also, the simulation results are generated and that validate the formula analysis and deprivation of its kinematics and dynamics.