Design And Research Of Six-Wheel-Leg Hybrid Mobile Robot

Hybrid mobile robots play an important role in many areas because of its strong environmental adaptability and high ability to cross obstacles.Wheel-leg hybrid mobile robot has both advantages of wheeled and legged ones which can run fast and possess high mobility,so it plays an important role in the fields of military investigation and space detection.The paper surveys the documents about different kinds of robots those are simple or hybrid.With the overall knowledge of the ground moving robot,the characteristics of them can be derived such as advantages and disadvantages.At the same time,the importance of leg-wheel robots become obvious.Base on a project with a branch of China North Industry Group,the leg-wheel rocker is to design for a vehicle that weighs about three tons with six hybrid wheeled legs.In the process of the research,several ideas come out and one is chosen and study detailed.In order to show the ability that leg-wheel robots can have,a light-weight scout robot is designed with six shakers with the function of the mechanical leg.There are two independent motors to drive in one shaker(wheel drive not included).In comparison with the former,it is more flexible.The mechanical has both the advantages of the wheeled and legged ones.It shows a strong ability to go cross the vertical obstacle and ditch.In the same time,a detailed analysis and design are done.Phase arrangement,kinematic analysis,gait planning and the ability to go across the obstacle are done.Via ADAMS,a simulation analysis about going across a vertical wall and ditch are carried out.Meanwhile,the properties of the shock absorber is optimized.The innovation of this paper is the combination of the wheel and the four-bar leg mechanism,which improves the terrain adaptability and obstacle avoidance ability of the robot,and provides a new research idea for the wheel-leg hybrid mobile robot.