The Design And Implementation Of Wheel-leg Hybrid Climbing Robot

With the continuous development and maturity of the mobile robot technology,the application field of the robot is becoming more and more widely,involving the field of military investigation,detection and rescue,planet exploration and other field.In these dangerous situations,we require robots can replace humans to complete tasks.Common movement of the robot is divided into wheel,leg and crawler type,because the single type of the moving mechanism has its advantages and disadvantages in application.So the hybrid robots' research is gradually becoming hot spot and the trend of the field.In this paper,the study which is based on the synchronous or asynchronous phase and centric or eccentric wheels designs a small robot which combines the advantage of legged robots and wheeled robots.It can stable walk on the ground,grass,sand and other complex ground,overcoming the disadvantages of poor efficiency of mobile robot in walking and overcoming obstacle.Synchronous and asynchronous phase refers to the walking gait of the robot,and the centric and eccentric refers to the structure of the moving mechanism.Synchronous phase and eccentric technology is to improve the robot's obstacle crossing ability.The robot which is based on the synchronous/asynchronous phase and centric/eccentric technology uses four common round wheels and the eccentric rod structure which is used for crossing obstacle.The robot walks on the smooth terrain with the wheeled structure efficiently,and in the complex terrain uses eccentric rod structure to crossing or climb,which considers the obstacle crossing performance and walking efficiency is excellent.Besides,the robot can stable climb continuous stairs.Firstly,through the analysis of the robot's selected topic background and research situation in the field of wheel-legged robot in the world,the paper innovative put forward a new kind of hybrid robot.Secondly,the paper introduces the design process of this hybrid robot and plans its gait on the ground and complicated terrain,and the movement principle of the robot in climbing the steps in details.In the third part,through the establishment of dynamic model of the robot,we study the robot in the field of kinematics and dynamics,and calculate the height limit that the robot can cross the barrier and angles which the robot can climb.The fourth part of the paper gives the design thought in the robot control system,and describes its hardware part and software part.The fifth part through the ground walking experiments to prove this model of robot and its gait planning,and then by the complex terrain of the obstacle-surmounting and climbing continuous stairs experiments to analysis the robot obstacle crossing and climbing performance,which is based on the experiments to further improve and perfect the robot platform.Finally,through the summary of the design process of the robot expect its future application.Through the research and analysis of this article,based on the synchronous or asynchronous phase and centric or eccentric technology of wheel-legged robot can walk on smooth ground efficiently,and also more stable obstacle crossing and climb under the complicated terrain.The robot has high maneuverability and obstacle-overcoming ability,providing a reference basis for the future hybrid robot research.