Research On Wheel-legged Hybrid Parallel Legged Walking Robot Motion Planning

In recent years,with the continuous development of robot application technology,various forms of robots were born and gradually integrated into human society,playing an important role.As an important research topic,walking robots have attracted the attention of scholars from all walks of life in recent years.Walking robots can be divided into foot-type,wheel-type and wheel-foot hybrid type according to their structure.Foot-type walking robots have low requirements on the environment and can adapt to complex terrain,but their movement speed is slow.Wheel-type walking robots can have higher movement speeds.However,it is insufficient in terms of environmental adaptability,and the wheel-foot hybrid walking robot abandons the above two shortcomings and combines their respective advantages to become a hot direction in the field of robotics research.The research object of this article is a wheel-foot hybrid parallel-legged walking robot,which is characterized by a combination of a 2(6UPUR+3P)parallel configuration of the leg structure and a two-drive and one-guided wheeled structure.The leg structure The overall center of gravity of the robot is stable and the carrying capacity is large,and the wheeled structure enables the robot to achieve rapid movement in a flat terrain environment.This article mainly does the following research work:First of all,the parallel leg structure design and wheel structure design of the wheel-foot hybrid parallel legged walking robot are carried out,and the Adams virtual prototype simulation platform is built,and the test prototype is manufactured.Secondly,taking the single parallel leg of the wheel-foot hybrid parallel-leg walking robot as the research object,the first and second-order influence coefficient matrices of the single parallel leg are derived by using the spiral theory combined with the motion influence coefficient matrix method,and then the foot kinematics The positive and negative equations are solved,a static walking gait is planned for the wheel-foot hybrid parallel legged walking robot,and a fuselage posture adjustment algorithm based on this gait is proposed.The Matlab example and the Adams/Simulink co-simulation are used to simulate the foot The model kinematics model and the attitude adjustment algorithm are accurately verified,and then the robot wheel kinematics model and the trajectory tracking preview model are derived,and the simulation example is accurately verified;the Lagrangian method is used to derive and establish the wheel in detail.The dynamic model of the single parallel leg of the foot hybrid parallel leg walking robot,and the dynamic model of the robot wheel structure including the motor is established,and then the correctness of the single parallel leg dynamic model is verified through the comparison of simulation examples;for the classic APF The defects of the algorithm,an IAPF algorithm is proposed to improve the problems in different scenarios,and the effectiveness of the algorithm is verified by simulation.Finally,the wheel-foot hybrid parallel-legged walking robot wheeled walking obstacle avoidance test is carried out to verify the proposed IAPF algorithm.The experimental data is collected according to the installed sensors,and the data is processed to generate obstacle information and robot trajectory curves.It shows that the improvement effect of the IAPF algorithm is obvious,and it can realize the path planning of the robot in the complex environment.