Research And Simulation Of Wheel-legged Compound Rescue Robot Configuration With Hybrid Legs

Battlefield rescue is an important guarantee for military survival and combat effectiveness reconstruction.Wheeled mobile robot has strong mobile ability and is the main form of rescue robot.However,the complex terrain environment(shrubs,culverts,sand,wetlands,etc.)of battlefield or disaster increases the difficulty of rescue to a certain extent and hinders the entry of ground personnel and wheeled or tracked rescue robot.Therefore,it is urgent to develop a rescue robot which can meet the complex terrain conditions and has strong mobility,load capacity and passing capacity.Therefore,a hybrid leg wheel foot rescue robot is designed,which has strong adaptability in complex environment.Firstly,considering the complex terrain environment,the volume and load capacity of rescue robot,a wheel-legged compound rescue robot with hybrid legs is proposed.On the basis of fully discussing the motion form of mobile robot,the leg structure model is designed,and the(RUHU-RUPR-UPR-RUR)& R hybrid leg configuration is proposed.The overall structure of the quadruped wheel-legged composite robot is determined,and its three-dimensional model is established.The number and type of degrees of freedom of the leg mechanism are analyzed by using the screw theory.The statics analysis of the key components and the wheel-legged composite parts of the hybrid leg configuration is carried out,which provides a theoretical basis for the followup kinematics and dynamics analysis of the rescue robot.Secondly,the kinematics and dynamics model of the rescue robot leg mechanism is established.The mathematical model of the hybrid leg motion posture of the leg mechanism is established,and the forward and inverse kinematics are solved;the velocity and acceleration are analyzed based on Jacobian matrix;according to the boundary singularity and internal singularity of the leg mechanism of the rescue robot,the singularity is analyzed,and the position condition of the singularity is obtained.The rescue robot is discussed based on the limit boundary search method.The dynamics of the leg mechanism is calculated and analyzed by Newton Euler method,and the multimodal shape variables and natural frequencies of the leg mechanism are solved based on the finite element method.Thirdly,the stability and gait planning of the rescue robot are designed and analyzed.By analyzing the static and dynamic balance stability margin of the rescue robot,the static / dynamic stability conditions of the rescue robot are determined;the gait of the robot is analyzed respectively from the foot walking gait,wheel steering gait and walking gait;The form of compound cycloid motion trajectory is explored,and the motion trajectory curve of foot end reference point in swing phase and support phase is solved under the constraints of mechanism stability and singularity.Finally,ADAMS software is used to simulate the wheel-legged compound rescue robot with hybrid legs.The virtual prototype of the wheel-legged compound rescue robot with hybrid legs is established,and the gait,turning,obstacle crossing and motion mode switching of the robot are simulated and analyzed in ADAMS,and the correctness of the design parameters is verified.