Design And Simulation Analysis Of Wheel-foot Robot Structure

As a new mobile platform,wheel-foot robot has the characteristics of rapid wheeled movement and diversification of foot movement.It plays an important role in military,deep space exploration,natural disaster rescue and field scientific examination operations,and has great development prospects.Wheel-foot robot technology involves mechanics simulation,mechanism design,intelligent control,multi-sensor fusion,environment perception,visual navigation,path planning and tracking and other knowledge fields,and is a complex mechanical system.This paper designs a wheel-foot robot with excellent terrain adaptability and obstacle surmounting ability.As a mobile platform,the robot can carry various devices and perform tasks.The main research contents of this paper are as follows: through the structure design,kinematics simulation and calculation analysis of the six-wheeled foot robot,it is proved that the wheeled foot robot has strong terrain adaptability,excellent obstacle-surmounting performance,strong anti-overturning ability,flexible steering ability and so on.In this paper,according to the walking characteristics of wheel-foot robot,the motion structure scheme of wheel-foot robot is studied and designed.Mathematical analysis model is established for the structure of wheel and foot bar,and the kinematic characteristics of the mechanism are calculated theoretically.Using Pro/E as the design platform,the wheel-foot robot is designed in detail and assembled on the whole mobile platform.At the same time,using ADAMS as the simulation platform,the virtual reality model is established to simulate and analyze the dynamics of the wheel-foot robot,and to optimize the size of each member of the obstaclecrossing structure.At the same time,the mechanical structure model is also designed.The drive system model is set up with necessary measurements.The relevant test curves are obtained through simulation,so as to observe,verify and optimize the structural parameters of the positive and negative quadrilateral suspension,and verify whether its walking performance meets the design requirements.The research results can provide some theoretical data design support for the operation and motion performance test of the six-wheeled foot robot in the later stage.The wheel-foot robot has strong road adaptability and obstacle surmounting performance.As a mobile load platform,it can carry other equipment and sensors to perform tasks.