Design And Research Of Wheel-leg Hybrid Mobile Robot

With the development of society,the requirement for the performance of mobile robots is becoming higher and higher.By investigating the research status of various kinds of mobile robots at home and abroad,it is found that the traditional single-mode mobile robots have absolute advantages in a certain field,for their own structure,the comprehensive performance is difficult to upgrade,and the environmental adaptability is limited.Hybrid mobile robots have the advantages of both combinatorial mobile robots and have a large space to improve their comprehensive performance,which has a strong ability to adapt to the environment and can better meet the development needs of human society.In this paper,the design of mobile robots is required to achieve both high obstacle surmounting and fast movement.Based on this,we decided to design a wheeled-legged hybrid mobile robot.Wheeled-legged composite mobile robot not only overcomes the characteristics of complex control and low running efficiency of legged robot on relatively flat road surface,but also overcomes the shortcomings of single wheeled robot,such as limited environmental adaptability and poor obstacle-surmounting ability.Firstly,in order to make the robot have high obstacle-climbing ability and adaptability to complex environment in the leg mode,On the basis of the existing research,the leg structure of walking robot is analyzed and compared Finally,the six-bar seven-pair mechanism in the single-degree-of-freedom closed-chain leg structure is applied,which is easy to control and has good comprehensive performance.After the design of the leg structure is completed,Combining the ideas of deformation wheel and special-shaped wheel,Across mechanical design to improvement wheel-leg structure.so that the two modes of wheel and leg can be switched,and the complete flange can be formed in the wheel mode.Three-dimensional model of wheel-leg structure is built,and simulation analysis is carried out with Adams to ensure that the performance requirements of wheel-leg composite mobile robot can be achieved.The validity of foot trajectory is determined through the analysis of matlab.Secondly,on the basis of completing the design and analysis of the wheel-leg structure,the frame is designed according to the size of the wheel-leg structure.The three-dimensional model of the whole machine is built and the performance analysis is carried out,including crossing trenches,crossing vertical walls,crossing vertical convex platform,climbing slope,straight-line driving and differential driving in the leg mode.Linear and differential driving on flat road,the fluctuation of center of mass and the output torque of motor in the wheel mode.Finally,the selection of thrust bearing,flange bearing,coupling and bolt is completed according to the size of the parts of the prototype.Strength check of key components.Complete the manufacture of prototype parts,assembly of the whole machine,debugging and testing.