Study On Design Method Of A Wheel-legged Mobile Robot

The quadruped robot has always been a hot research field of robots, design and manufacture of a quadruped animal moving ability of the robot is the goal of researchers. In this paper, on the basis of and summed up the results of previous work, the following work has been done:(1) Put forward a kind of adaptive wheel-legged mobile robot in unstructured environment, and design a robot prototype.(2) The kinematics and mechanics performance of the robot are analyzed in detail, gives the robot, legged and wheeled composite and other movement.(3) Establish a quadruped robot gait planning and simulation analysis method, and according to the structure characteristics of wheel-legged robot, quadruped animal imitation crawl gait, presents a simplified continuous crawl gait.(4) According to the gait and simulation design, the motion performance of the robot prototype is studied, results show that the robot can achieve the hip joint wheeled movement, the knee joint wheeled movement, legged walking motion, etc.