Motion Analysis and Gait Research of a New Wheel-legged Compound Robot

摘要

AbstractIn order to improve the ability of the robot to perform multiple tasks in the complex environment, a new wheel-legged compound robot which can realize multiple operation modes by switching between wheel and foot is proposed. The initial movement mode of the robot and other movement and operation modes which can be realized by limbs transformation are given. The kinematics and gait of the robot with six and four legged walking modes are solved. According to the geometrical constraints of stability, the accessible workspace of the robot's limb and the motion trajectory in the moving process are given. Based on the geometrical constraints of the omnidirectional mode and the low center of gravity mode, the position and posture of the branched-chain corresponding to the two modes and the walking parameters of the robot are given. Finally, considering the different terrain and task environment, the switching process between different modes of the robot is carried out with motion planning and stability margin calculation, and the virtual prototype simulation is carried out on V-REP. The results show that the robot has good stability in the process of movement and mode switching, as well as the ability to move and operate multiple types of tasks.