Design and performance analysis of multi-wheeled lateral and longitudinal rocker arm series-parallel robot

Abstract

The six-wheeled rocker robot and the eight-wheeled rocker robot have strong obstacle-surmounting and terrain adaptability, which are widely used in lunar and Mars exploration, military operations, and field rescue. However, for the terrain environment with low friction coefficient and more complex unstructured terrain environments such as ice and snow roads, the six-wheeled rocker robot and the eight-wheeled rocker robot are not enough, so the rocker arm robot with stronger ability to overcome obstacles and adapt to the terrain is needed. In order to solve the above technical problems, this paper innovatively designs a multi-wheeled lateral and longitudinal rocker arm series-parallel robot. Firstly, Creo3.0 is used to create a new three-dimensional model of a series-parallel robot with multi-wheeled lateral and longitudinal arms. Then, the 3D model of the robot is imported into Adams2018 to build a virtual prototype simulation model. Finally, through the construction and simulation analysis of various obstacle-surmounting terrain environments such as vertical obstacles, slopes and potholes, the adaptability, obstacle-surmounting, safety and maneuverability of the robot to different terrain environments are studied. The conclusions obtained in this paper can provide a reference for the innovative design of the obstacle-crossing mechanism of the multi-wheeled lateral and longitudinal rocker arm series-parallel robot, and the improvement of the obstacle-crossing performance, adaptability, maneuverability and safety performance on complex terrain.