Design of Kinematic Mechanism of Wheel-legged Robot

摘要

Abstract Mobile robots can be roughly categorized in wheeled type, tracked-skidded type, legged type, trunked type, etc. Among them, the wheeled mobile robot can move on the flat road, but with poor performance when crossing an obstacle; the legged type mobile robot has a slow motion speed and poor bearing capacity; the tracked-skidded mobile robot has a large weight; while the trunked mobile robot has limited use occasions. In order to overcome these shortcomings, this paper studies the wheel-legged structure and distributes the performance of various commonly used structures. On the other hand, by analyzing the newly emerged structure, the impact of the organization’s own shortcomings on performance is hoped to be reduced. By comparing the structure and distribution of different leg configurations, the advantages of the locomotion performance of each type of wheel-legged mobile robot and the development trend of the wheel-legged mobile robot in the future are analyzed.