Research On Motion Of Wheel-foot Hybrid Robot

The research object of this subject is a wheel-foot hybrid robot,which can combine the advantages of wheeled robots and footed robots,and switch between wheeled and footed motion modes according to different environments,achieving good mobility And the unity of higher moving speed.The wheel-foot hybrid robot can be better used in inspection,detection,rescue and other aspects.The thesis mainly conducts research on the two modes of sports,and has done detailed research and design in kinematics analysis and modeling,dynamic analysis,stability evaluation methods,gait planning,control system design,simulation and so on.First,design the mechanical structure of the robot based on the principle of bionic kinematics and determine its degree of freedom;use the DH matrix modeling method of robotics to analyze the kinematics of the robot,and carry out the research of the robot's foot-end workspace with reference to the kinematics modeling and numerical simulation.Secondly,carry out robot gait planning.Starting from the analysis of the robot's foot trajectory,the analysis and simulation of the robot's motion trajectory in the two states of wheeled and footed are carried out.Among them,the foot mode adopts the Trot diagonal gait.The validity of the plan is verified by the center of gravity projection method and stability margin analysis,and finally the feasibility is analyzed by the touchdown sequence.Then design the control method of the robot.The control method is based on model prediction,and a predictive controller with constraints is designed to optimize the control strategy of the robot,verify the feasibility of the control algorithm through simulation,and discuss the stability of the robot during the switching process.Finally,in the robot simulation software Webots,a virtualized complex environment and robot model are built,and the robot controller is designed according to the planned gait and control algorithm.The simulation results show that the robot can perform the desired action well in the complex environment,which is further verified The feasibility of gait planning and control algorithms.