Motion Characteristic Analysis And Parameter Optimization Of The Multi-legged Wheel Robot

The wheel-legged robot has the dual advantages of wheel’s fast translational speed and legged mechanism’s strong obstacle surmounting ability.So,it has been widely studied and applied by scholars at home and abroad.In this paper,the control strategy,control program,stability and motion characteristics of the multi-legged wheel robot are deeply studied in order to solve the problems of uniform walking control,difficult steering control and indetermination motion performance of the multi-legged robot developed by our research group in the early stage.The feasibility of theoretical and simulation research are verified based on the experimentation results.The research contents of this paper mainly include the following aspects:1.Multi-legged wheel robot control strategy planning and control system designBased on the structural characteristics of the multi-legged wheel robot,the control strategy of uniform linear walking and steering are constructed at first.The control strategy is verified by simulation analyses based on the ADAMS software.The Lab VIEW graphical programming software is used to design the control program.And the walking and steering control of the robot is realized depending on the Ni-myrio embedded development platform.2.Research on stability of the multi-legged wheel robotThe vertical and horizontal static stability of the robot is analyzed by orthogonal test and center of gravity projection method.And the influence of the primary and secondary order and significant factors on the static stability of the robot is studied at the same time.The zero moment point method is used to study the dynamic stability and the main influencing factors of the robot.Based on above research results,the structural parameters were preliminarily optimized.3.Research on motion characteristics of the multi-legged wheel robotThe combination method of theoretical and simulation analysis is used to study the motion characteristics of robot climbing,obstacle crossing,gully crossing and continuous step obstacle crossing.And the influencing factors and laws of robot motion characteristics are also obtained based the research.The results gotten above will lays a strong foundation for robot’s practical application in the near future.4.Motion characteristic test of the multi-legged wheel robotBased on the steering test of different interval angles of the robot,the actual steering trajectory of the robot is determined at last,and the rationality of the steering program and steering control strategy of the robot is also verified at the same time.Based on the static stability test,the correctness of the previous orthogonal test and the simulation results of the overturning angle are verified.And the structural parameters are further optimized and determined based the above research results.