Design And Implementation Of Compound Wheel-footed Robot

With the successive maturity of the field of robot research,the application of robots in production and life is also increasing gradually.The single form of mobile robots has outstanding advantages in one aspect,but their comprehensive performance is poor.Compound mobile robots,which has the advantages of multiple single-form of mobile robots,has increasingly become a research hotspot.Now,most wheel-legged compound mobile robots have large body size,the structure and control of the engine are complex,so it is difficult to adapt to the working needs of the narrow environment.Therefore,in this paper,a compound wheel-footed robot with environment detection function is designed for the application scenario of small and unknown environment.Firstly,according to the detection requirements of the narrow and unknown environment,the main functions and performance parameters of the compound wheelfoot robots are defined,and on this basis,a simple and reliable structure,high mobile efficiency,strong environmental adaptability and accurate and stable control system is studied.Finally,the mechanical form of "four action wheels + two-sided foot structure" is adopted.In the process of moving,the foot structure is retracted.The robot has efficient movement performance,and the all-wheel in-phase connection method is adopted between the action wheels,which enhances the robot's grip to a certain extent;when the robot needs to turn or cross obstacles,the foot structure extends out and the action wheel assists the robot to turn and across the obstacle.At the same time,the body,transmission unit,action wheel and foot structure are designed,and introduce the selection of detection module and communication module.Then,a simple kinematics model is obtained by analyzing the velocity transformation relationship between the local coordinate system and the global coordinate system.Then the relationship between motion and force is analyzed by using Euler equation,and the dynamics model is obtained.At the same time,the motion mode of the compound wheel-footed robot is analyzed,including the wheel-based movement mode,the wheel-foot compound movement mode of the left foot structure with action wheel,and wheel-foot compound movement mode of the right foot structure with action wheel and the wheel-foot compound movement mode of the two-sided foot structure with plus action wheels.Through the alternation of four motion modes,the movement function,steering function and obstacle surmounting function of the compound wheeled foot robot are realized.The motion mode conversion in the process of the robot's movement,steering and obstacle surmounting operation is analyzed in detail.In this process,the calculation formulas of the robot's limit claiming angle and the limit obstacle surmounting height are established,the minimum turning radius of the compound wheel-foot robot is determined.After that,the control system of the compound wheel-footed robot is designed.The circuit design of the system.At the same time,using Arduino to realize the programming of the lower compute,which realizes the collection of sensor data,the communication between the WIFI module and the upper computer,and the reception of the control signal of the upper computer or the remote control;C# was used to complete the programming of the upper computer,which realized the connection between the upper computer and the wireless communication module,the real-time display of sensor data and video data,and the transmission of control signals.Finally,based on all the above work,the prototype and control system of the compound wheel-foot robots were built,and the joint debugging of the mechanical system and control system was completed.The corresponding performance parameters of the hybrid wheel-foot robot was obtained through the experiments of robot movement,steering,obstacle crossing and control.At the same time the function and performance of the compound wheel-foot robot described in this paper were verified.