Research On Spatial Deformable Wheel-legged Robot With Omni-directional And Obstacle-crossing Mobility

In this thesis,a single degree of freedom closed-chain linkage mechanism in space constructs a wheel-leg compound robot that can overcome obstacles and move in all directions,the single wheel leg has two degrees of freedom,and the robot has eight degrees of freedom in total.The robot can cross the vertical wall obstacle of its own wheel diameter and height,it can achieve lateral and oblique movement functions similar to Mecanum wheels in a foot-like motion,it can realize lateral movement and oblique movement similar to Mecanum wheel,and the single-wheel leg mechanism can be used as a single-power steerable crawling ground mobile robot.The theoretical analysis,simulation verification and systematic analysis of prototype test are carried out on the robot.Firstly,the kinematics and degrees of freedom of the Schatz mechanism are analyzed,and the Schatz mechanism is used for combination,and three configuration schemes are proposed: the round-leg compound type,the diagonal collinear wheel-leg compound type,and the diagonal non-combination type,determine the diagonal collinear wheel-leg compound as the optimal solution among the three and improve it,two improved schemes of wheel-leg compound type and comprehensive wheel-leg compound type are proposed,after analyzing the comprehensive wheel-leg compound type can achieve the expected obstacle crossing,traverse and inclined functions,and it can also be used as a crawling mechanism independently.It is clear that it can be used as a single-wheel-leg module to construct a wheel-legged robot.Then,a spatially deformable wheel-legged robot is constructed in a co-directional layout,to analyze the obstacle-crossing performance of the robot,we can make a conclusion that the indirectness of the maximum obstacle clearance height is only related to the core rod length of the Schatz mechanism,the appropriate core rod length can be obtained by inverse solution according to the specified obstacle clearance height make the structural parameters of the robot are more reasonable,Analyze the traverse,tilt and foot steering functions of the robot,as well as the robot’s adaptability to deal with special terrain and unexpected situations.In the Adams,the robot can perform horizontal movement,obstacle crossing,slope climbing,lateral movement,oblique movement,crossing trenches,pose adjustment,rollover correction and single-wheel crawling simulation,measured graphs of motor torque changes related to obstacle crossing,hill climbing,traverse,and tilt in a typical simulation environment.Finally,design the wheel leg structure and body structure of the prototype,design the rotating joint and transmission device,select the drive motor,build the control system,process the prototype parts,complete the assembly,debugging and test.