Design And Research On A Walking-carry Platform With Adjustable Closed Leg Mechanism

Comparing with other types of mobile robots,such as wheeled,crawler,etc.The walking robot has good maneuverability and adaptability to complex terrain.Comparing to the open chain leg mechanism,the closed leg mechanism has the advantages of large rigidity and good stability.On the basis of the original theoretical research,a walking platform with high maneuverability and the adjustable closed leg mechanism,which is used in this platform to analyze its performance are designed and researched in this article.First of all,on the basis of the existing research to determine the 6-bar mechanism for closed leg mechanism research,a new walking platform is set up with the single leg mechanism.The whole machine adopts the design scheme of using one leg group instead of single leg mechanism,and the four leg groups are arranged symmetrically in the four corner of it.Each leg group consists of four single leg mechanisms,which anterior and posterior common crank,left and right common motor.It improves the stability and load capacity of the whole machine.Then using virtual prototyping technology to model and simulate the walking platform.The trafficability,stability,straight line and steering of the platform under general road conditions are analyzed by using it.Especially studying on the platform’s obstacle avoidance ability of the upper and lower slopes,side slopes,vertical walls,and across the trenches.Then,the sensitivity of each member of a single leg mechanism are analyzed.The main research is to get the priority of the sensitivity of the bar,by testing how the length of the bar influences the height and stride length of foot trajectory.The adjustable device of the most sensitive bar is applied to the design of the single leg mechanism of the prototype.A bar with adjustable device is supposed to instead of a single bar,by changing the length of the bar to improve the capacity of the whole machine.The trajectory curve of the adjustable obstacle area is used to analysis obstacles,such as protruding and trench.Then putting forward a method to solve them.The feasibility of theoretical analysis can be verified by simulation analysis.Finally,the structure of each part of the walking platform is designed according to the technical parameters,including the motor type selection,leg group structure design,single leg structure design,car body and shelf design.The key parts are checked and the control scheme is designed.After that,physical prototype is made and the experiment is carried out.