Structural Optimization Design and Performance Simulation of A Novel Six-wheel-legged Mobile Robot

Abstract

This paper introduces a design method of novel six-wheel-legged mobile robot that combines the advantages of wheeled robots with legged robots. It has the advantages of obstacle overcoming and fast walking speed. According to the working environment and performance requirements, the structural composition is designed and optimized. Then the parameters of the mobile robots are analyzed based on the corresponding geometric constraints. Finally, the feasibility of this design method is verified by ADAMS simulation experiments. This paper proposes a parameterized model at the initial height and indirectly constructing the objective function. The maximum obstacle height is improved by using only one-time design process which is different from the traditional method of repeated verification.