Design And Research Of Wheel-leg Hybrid Mobile Robot With Tensegrity

Nowadays,with modern civilization and social progress continuously,people for mobile robots is also more and more expectations and requirements,based on scientific research institutions at home and abroad and the present situation of the college of the existing various mobile robot research found that: at present,such as wheel,crawler,traditional single movement patterns,such as leg type robot in many areas still have a lot of market share,but due to limitation of its structure,the comprehensive performance of the traditional model robot ascension difficult,and the ability to adapt to the environment is limited;Relatively complex such as fulfillment of wheel type,round leg type mobile robot is at the same time it has advantage of the superposition of the robot,and its comprehensive performance has a lot of room to improve,and stronger environmental adaptation ability,compared with the traditional mobile robot compound mobile robot can meet the requirements of the development of today's society more and gradually become a hot point development.Finally,based on the structural characteristics of tensegrity structure,this paper decides to design a tensegrity compound mobile robot with variable diameter wheels and legs.The tensegrity wheel leg mobile robot can overcome the disadvantages of the wheel robot in the aspect of obstacle crossing and environmental adaptability on unstructured terrain and the leg robot in the aspect of complex moving speed and control on structured terrain.Based on the comparative analysis of the walking structure of the existing mobile robot and the structural advantages of self-adaptive,self-stable and flexible tensegrity structure,an innovative two-bar tensegrity wheel leg unit with a larger wheel spread ratio and better comprehensive performance was proposed.Then,the configuration design and kinematics analysis of the tensegrity wheel leg element are completed by using the principle of minimum potential energy.Based on the form finding analysis of the tensegrity wheel leg unit,the specific size parameters of the tensegrity unit are obtained.The selection and design of hub structure and transmission limit mechanism in wheel structure are determined by the principle of optimal spread ratio of tensegrity wheel leg wheel,so that it can achieve the purpose of switching wheel-foot two motion modes and complete the stiffness matching of structural flexible component-spring.Under the wheeled motion mode,the robot has a round rim shape and moves fast.Foot movement mode can overcome higher barriers and walk steadily in anunstructured environment.The CATIA software is used to construct the assembly model of tension-leg wheel structure,and then Adams software is used to complete the prototype simulation model and carry out the corresponding simulation experiment and analysis,so as to ensure the performance requirements of tension-leg compound mobile robot,and prove the effectiveness of the proposed method and the correctness of theoretical calculation.Finally,the 3D printing technology is used to process and manufacture some parts of the prototype.Through the selection of standard parts and motor power supply,the assembly,debugging and experiment of the physical prototype are completed.The design of the tensegrity wheel leg composite robot can achieve stable walking in different environments,achieve large diameter change,can be in the wheel mode and foot mode mode conversion.