Design And Research Of Wheel-Leg Power-Assisted Trolley

With the increasing demands and dependences of human beings on robots,single-structured robots are difficult to meet the needs of human beings,various kinds of hybrid robots have emerged as require.Robotics technology has been applied to many aspects in our life.Power-assisted robots can help operators to carry heavy objects with less effort,and increase the person loads in the military field to enhance combat effectiveness.However,the exoskeleton-assisted robots currently being studied are constrained by the complexity of control systems and the high cost of development,and they are difficult to be applied to a large number of scenarios such as material transportation and casualty rush.In this paper,combined with the wheel-leg hybrid robot technology,a power-assisted trolley with strong terrain adaptability and rich functions is designed to meet the needs of fast and assisted transportation of goods and casualties.Specific research contents are as follows:A new type of wheel-leg power-assisted trolley is designed and proposed.On the basis of comprehensive analysis of the characteristics of various kinds of hybrid mobile robots,the chassis structure of booster is determined,the closed chain leg mechanism is selected and designed;the foot-end vibration absorber and the wheels vibration absorber are designed to accelerate the attenuation of vehicle vibration,the design scheme of balance module is explored;the comparative selection and design of driving and transmission schemes are carried out.Kinematics analysis and dynamics simulation analysis of the vehicle are carried out.Vector loop method is used to analyze the kinematics of leg configuration to determine the basic kinematics performance and obstacle-surmounting ability of the vehicle.Passing strategy under different working conditions is confirmed to improve the performance of the vehicle,and a dynamic model is built for simulations.The analysis and performance comparison of the vehicle's assistant effect are carried out.From the engineering point of view,the design of components,the strength check of key components,the selection of motor and the construction of control system are carried out to complete the assembly of the prototype.Walking and obstacle crossing experiments are carried out to verify the motion ability and mechanical design.