Novel Design of the Wheel-footed obstacle-surmounting Robot

摘要

Abstract In order to improve the mobile robot’s movement efficiency, obstacle surmounting ability and stability in complex environments, a new wheel-footed obstacle surmounting robot is proposed. The robot wheels include semicircle arc and involute arc. Each group of wheels is complementary in phase to ensure that the contact point between the wheel and the ground is always the circumference of the wheel. This not only continues the high efficiency of the round wheel on the flat ground, but also enhances the ability of the wheel to cross obstacles. This paper studies the structure design and motion analysis of the wheel-footed obstacle-surmounting robot, and completes the robot of the physical prototype. At last, the experiment proves that the robot not only has simple structure, high moving efficiency, but also has good obstacle-surmounting ability, passing ability and stability.