The Structure Design And Motion Analysis Of Multi-legged Robot With Limb Manipulating Function

Wheel-legged robot is widely applied to planetary exploration and field investigation due to its high walking environment adaptability. Moreover the high fault tolerance of six wheel-legged robot system makes it possible to work in the hard road condition. Because of the characteristics of six limbs, the limb operating function of this robot attracts a wide attention of scholars at home and abroad.In this paper, we apply the bionics and according to the characteristics of wheel-legged robot and multi-joint mechanical arm, a novel kind of six wheel-legged robot with the function of limb operating function is designed. The optimization of robot mechanism and the evaluation of robot kinematic performance are accomplished. Moreover the limb operating kinematics analysis of this robot is made. The main research contents are listed as follows:First, the whole scheme design is accomplished and the number of limbs is confirmed. We refer to the body structure feature of general legged robot and confirm the configuration of the robot body. According to the insect bionics, the analysis of DOF and the requirements of limb operating function, the configuration design of single leg is accomplished. Then we proceed to make the structure design of single leg, the detailed mechanical structure design of every joint is made. Based on the kinematics analysis of single leg, a novel single leg working space optimization method is presented and the dimensional optimization of single leg is made by use of this method. Meanwhile the designs of some typical end effectors are made.Second, in the basis of the six wheel-legged robot configuration design, the stability of walking on horizontal plane in four typical'3+3'tripod gaits and slope in'3+1'gait are analyzed by using different judgment methods. According to the combination of wheel and leg, the switch planning between wheeled mode and walking mode is accomplished. Moreover, the motion analysis of four wheeled turning modes is presented.Third, due to the requirements of limb operating function, three limb operating modes of this novel robot are introduced. We aim the clamping operation by use of two limbs: the stability condition and the kinematics analysis with considering the body participating in the operation.Last, we simplify the novel six wheel-legged robot single leg model, then import the simplified model into ADAMS and make a simulation research. On this basis, the simplified prototype is made. Moreover the motion mode switching experiment and single limb operating experiment are done.