Structural Design And Parameter Optimization Of Multi-legged Wheel Robot

In order to solve the problems that the wheeled robot is difficult to walk in the complex environment such as grass,gully and steps and the foot robot is complex in structure and difficult to control,a new multi-legged wheel robot is designed in the paper based on the multi-legged mechanism developed by our research group in the early stage.It has special structure,which combines the advantages of the wheeled and the foot mechanism and has a simpler control and faster speed.In this paper,the kinematics and dynamics characteristics of the multi-legged wheel robot are studied based on the theory,simulation and experiment methods.The feasibility and rationality of the mechanism are verified and the structural parameters of the multi-legged wheel robot are also optimized.The research content of this paper is as follows.1.Overall structure design of multi-legged wheel robotBased on the multi-legged mechanism,the 3D model of the multi-legged wheel robot is designed using 3D modeling software.The walking and steering principles of the robot were studied,and the mechanism parameters of the robot were preliminarily optimized.The main mechanical parts of the robot were analyzed based on the simulation software.And the structural parameters of the robot were further optimized to ensure the mechanical performance.2.Theoretical research on kinematics and dynamics characteristics of multi-legged wheel robotThe kinematics model of the robot was established based on the D-H method.The posture of the walking mechanism was analyzed and motion performance was verified by solving of the kinematics equation.Lagrange equation was used to obtain the dynamic characteristics of the robot,which provides a theoretical basis for the design of driving module of the robot.3.Simulation analysis of kinematics and dynamics characteristics of multi-legged wheel robotUsing ADAMS software,a virtual prototype of the robot was established,and the motion simulation was carried out under the control of the driving function.The change curves of the kinematics parameters and dynamics parameters of the robot were obtained,which would further verify the rationality of the structure design of the multi-legged wheel robot and optimize the structural parameters.4.Experimental research on multi-legged wheel robotThe multi-legged wheel robot was made out at first.Based on the movement required by the robot,the hardware module was selected and the control program was also written.The motion performance of the multi-legged wheel robot was tested to verify the rationality of the theoretical and simulation research results and further optimize the parameters of the robot structure..