| Multi-legged robots have been used more and more in the fields of fire rescue and nuclear leakage due to their higher carrying capacity,better stability and super adaptability to the ground environment.In this paper,a wheel-legged hexapod robot with 2PUS+PU mechanism as its mechanical legs is designed.Rotating wheels are installed at the ends of the legs.When the robot needs to transform from legged motion to wheeled motion,the hub motor is activated and the driving joints of the branches of the 2PUS+PU parallel mechanism are locked,and wheel motion can be carried out to replace human beings in many unknown dangerous situations.The configuration of the leg mechanism is analyzed,and the inverse and forward solutions of the robot's leg position are solved.According to the position inverse solution and the constraint conditions of the mechanism Hooke hinge,rod length,etc.,the working space of the leg mechanism is drawn using the boundary search method,and the velocity Jacobian matrix and the force Jacobian matrix are solved.Taking the working space as the index,the influence of the various parameters of the mechanism on the working space is solved,which provides a basis for the selection of the mechanism parameters.The static and dynamic stability of the robot when walking in an interactive triangular gait is analyzed,the conditions for the robot to walk stably are solved,and the trajectory of the robot's foot when walking on flat ground and obstacles is planned by using the trajectory compound curve method.The displacement,velocity and acceleration curves of the foot trajectory are drawn.A virtual model of a wheel-legged hexapod robot was established,and kinematics simulations were performed on the robot walking on flat ground,crossing trenches and wheel-climbing slopes,and plotted the displacement,speed and acceleration curves of each driving pair.The research content of this article provides a reference for the research and development of wheel-legged hexapod robot. |
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