Design And Analysis Of Wheel-legged Six-legged Detection Robots

As an important branch of modern intelligent robots,wheel-legged robots have wide research space and application prospects.By analyzing and summarizing the domestic and foreign research results,this paper proposes a new six-wheel-legged robot with the function of legs and wheels,and carries out research work around the structure design,kinematics and dynamics analysis,gait planning and stability of the robot.The overall scheme of the robot was proposed,and its design of the frame structure,wheel-leg structure,scout module and the building of 3D model were completed.Its composition of the wheeled leg,self-locking method and the principle of wheel-leg mode transformation were described especially.Then,the finite element model of its key wheeled leg was built,and its static stress and strain and the modal analysis were conducted,by which the rationality of the design of the leg was verified preliminarily.Based on the configuration and parameters of the leg,the robot's kinematic model and dynamics model of the three-legged gait were established.And the simulation analyses of the three-legged gait verified the correctness of the established models.On the basis of summarizing the classic gait of legged robots,a set of gait was planned for the marching of the robot,including three-legged gait,four-legged gait,turning gait,stair gait,climbing gait and wheel gait,which corresponded to their own applicable terrain.Then,static stability and dynamic stability of the robot placed on uneven terrain under common three-legged gait were analyzed,which provided the reference for the study of stability of the similar robots.The robot's foot trajectory was optimized from the driving source of the leg whereby the shock and vibration problems that may happen when the leg landed were solved.Then,the dynamics simulation of the robot was carried out with ADAMS software,and the simulation results verified the feasibility of the structure design,gait planning and so on.Finally,the robot's control system and hardware were designed and its prototype was made.The rationality of the gait planning and structure design were validated by the experiment,which provided the basis for the improvement research of the robot.