Structure Design and Motion Control of a Hybrid Quadruped Robot with Wheels and Legs

Abstract

As a type of modern bionic robot, the wheel-leg hybrid quadruped robot has become a popular research focus of related scholars both at home and abroad. This is due to its flexible motion performance and strong environmental adaptability. This article first summarises and analyses the related research results of the wheel-leg hybrid quadruped robot, especially focusing on the leg structure. Mirroring the movement characteristics of quadrupeds in nature and the characteristics of bone structure, a relatively novel wheel-leg hybrid quadruped robot wheel-leg structure is proposed. Based on the combination of the wheels and legs, a parallel mechanism is adopted as the structural design. The carrying capacity and overall rigidity of the robot are improved by replicating the composition of the skeletal structure of four-legged creatures in nature. At the same time, the kinematic model of the leg structure is established to analyse the movement characteristics of the robot. The kinematic and dynamic simulation of the single wheel-leg structure of the wheel-leg hybrid quadruped robot were performed using ADAMS software to verify the accuracy of the mathematical model. By setting two methods of sine drive and STEP function drive in ADAMS software, the designed gait sequence is simulated to verify the stability of the designed gait when walking. Provide reference basis for motion control.