Design And Simulation Of Metamorphic Leg-wheeled Robot

Compared with many mobile robots,leg-type mobile robots have better maneuverability and terrain adaptability,while wheeled mobile robots have faster moving speed and steering ability.The advantages of the two kinds of moving modes are combined by the wheel-leg hybrid robot.But the existing wheel-leg composite robot is complicated or unable to deform because of its control,with the limitation of the reliability and mobility of the complex terrain,this paper will introduce the cellular principle of the one-degree-of-freedom leg mechanism to change the cell synthesis,obtain the small-freedom wheel-leg compound deformable robot,and improve the reliability and mobile capability of the robot.Based on the research of single degree-of-freedom leg mechanism at home and abroad,this paper analyzes the existing six-leg mechanism by using the design method of Yan mechanism,introduces the rules of the leg machine design and finds out the new type of single degree-of-freedom leg mechanism,and finds out the most reasonable leg mechanism according to the foot trajectory.In this paper,according to the single DOF leg mechanism,the variational principle is introduced,the inverse of the leg mechanism is synthesized by the matrix elimination method,the result of the synthesis is analyzed,the reasonable topological diagram is selected,and the variable cell-leg mechanism is obtained according to the topological diagram.A mode switching device is proposed,which can be applied to the modular leg mechanism.The leg mechanism of this paper is modular design.It is necessary to use the mode switch device to realize mode switching for the LEG mechanism to form a mobile robot with mode switch.The main function of the mode switching device is to ensure smooth transmission and high rigidity.In this paper,two kinds of mode switching devices,connecting rod drive and rope drive are designed.Both of these devices can be used to complete the mode switching of the mechanism of the variable cell wheel legs.The simulation of the variable cell-leg robot is carried out,which is mainly aimed at the four-legged and six-legged robot,and it is found that four-foot robot and six-legged robot can switch the mobile mode,but the four-legged robot is inferior to the sufficient robot in the movement mode and the deformation state.From the engineering angle of the scheme,the planar leg mechanism is extended to the three-dimensional solid level arrangement design.The significance of this paper is that the designed wheeled-legged cellular robot can switch between leg-type mobile mode and wheeled mobile mode.When the movement of the leg movement and deformation state are deformed,only one degree of freedom is used,the control is convenient and stable,while the robot can adapt to a variety of road conditions while the robot has high reliability.