The Mechanism Design And Analysis Of Six-legged Wheeled Robot

The wheel-legged robot is a kind of robot that is adaptable and suitable for operating in complex environment.It can assist or even replace human to complete homework in many unknown and dangerous situations.Based on the research of domestic and foreign scholars,this paper designs a six wheel-legged mobile robot,which adopts the dual quadrilateral mechanism of variable structure,and uses 3UPS as the driving mechanism of leg mechanism.Four of the six legs are fitted with a driving wheel at the knee joint.By changing the scale parameters of the dual quadrilateral mechanism of the robot leg,it can be transformed by the wheel and the leg.The kinematics position of the robot leg mechanism and the position of wheel state are solved,On the basis of the anti-solution of the position of the leg mechanism,the motion space and velocity transfer relation matrix of the mechanism are solved,and the structural scale parameters are adjusted with the moving space as the index.By analyzing the motion space,the radius of the robot's wheel is calculated.The velocity transfer performance and the force bearing performance of the leg mechanism are analyzed quantitatively using a matrix of velocity transfer relation.This paper analyzes the static stability and dynamic stability of the robot walking in the interactive triangle gait,analyzes the foot normal force of the robot in this gait,calculates and selects the model of the leg mechanism driving device by using the foot method.The trajectory planning is carried out on the foot of the robot,and the velocity and acceleration curve of the foot are calculated.The robot's three-dimensional has been established,and the model of robot is carried out in flat road and meet with obstruction.the result of simulation shows that this design of six foot wheel legged robot scheme is feasible.