Research On Parallel Variable Cell And Variable Scale Wheel-Leg Hybrid Quadruped Robot

Wheel leg hybrid parallel robot can move quickly,but also through the rough ground,has great practical application value,based on the improved variable cell machinery leg mechanism motion pair,variable scale component design improvements,make its can be changed according to the real-time characteristic and mechanical performance of degrees of freedom mechanical legs,in order to improve the wheel leg hybrid parallel robot application flexibility and adaptability to environment.Firstly,from the perspective of bionics,the 3-UPS parallel mechanism with 6 degrees of freedom was adopted as the initial configuration of the mechanical leg,and the motion pairs and components of the mechanical leg were arranged and designed.Secondly,the design of the mechanical leg can be improved through the transformation of cells and the change of scale structure,so that the mechanical leg can change its own mechanism configuration,the number of degrees of freedom and the type according to the need.Thirdly,the layout of the robot leg mechanism on the platform was analyzed,and the final layout was determined.Moreover,the virtual work principle was applied to analyze the kinematics and dynamics of the whole robot,laying a good foundation for the future motor selection.Then,the trajectory of the robot's foot is planned,and the theoretical basis for maintaining the stability of the robot when it adopts the static gait and the dynamic gait is analyzed.On the basis of trajectory planning and stability analysis,the intermittent slow walking gait,diagonal trot gait and turning gait are planned.The above research provides a new idea for the design of the wheel-leg hybrid parallel robot,and at the same time,it also provides a method and basis for the in-depth exploration of the real-time variable mechanism of configuration and performance.