Abstract
Aiming at the crossing problem of complex terrain, to further improve the ability of obstacles crossing, this paper designs and develops an all-terrain wheel-legged hybrid robot (WLHR) with strong adaptability to the environment. According to the operation requirements in different road conditions, the robot adopts a wheel and leg compound structure, which can realize the transformation of wheel movement and leg movement to adjust its motion state. The straight and turning process of the robot is analyzed theoretically, the kinematics model is established and solved, and obstacle crossing analysis is carried out by establishing the mathematical model of front wheel obstacle crossing when the robot meets obstacles. To verify the analysis results, ADAMS software is used to simulate and analyze the process of robot running on the complex road surface and obstacles-crossing. Finally, a theoretical prototype is made to verify its feasibility. Theoretical analysis and experimental results show that the designed WLHR is feasible and has the stability of the wheeled mechanism and the higher obstacle crossing ability of the legged mechanism so that the robot can adapt to a variety of complex road conditions.
Highlights
Since the 1980s, mobile service robot technology has gradually become one of the research hotspots of researchers at home and abroad, and its application scope has gradually expanded to space exploration [1], military reconnaissance, explosive disposal rescue [2], entertainment services, and other fields [3].Nowadays, the ground mobile robots are the most widespread category of mobile device robots, and their application direction is far superior to that of industrial robots
Based on the analysis of the mechanical structure and environmental adaptability of the wheel-legged hybrid robot (WLHR), this paper proposes a relatively lightweight WLHR according to the required working environment of the robot
Because the slider-crank mechanism is used in the structural design of the wheel-leg suspension mechanism, it is easier to simplify it into a mathematical model to analyze the obstacle crossing height
Summary
Since the 1980s, mobile service robot technology has gradually become one of the research hotspots of researchers at home and abroad, and its application scope has gradually expanded to space exploration [1], military reconnaissance, explosive disposal rescue [2], entertainment services, and other fields [3]. Among so many mobile mechanisms, wheeled and tracked robots are the most studied, but legged robots have been researched because of their good obstacle crossing ability, such as BigDog [7]. The wheel-track-leg hybrid mobile robot [16,17] has good ground mobility and better obstacle-crossing ability. It is mostly suitable for obstacle-crossing in complex terrain, but its mechanical structure and control system is more complicated. Considering the stability, three is the minimum number of legs for the mobile robot to maintain static stability, and considering the requirement for fast passing ability and simple control, we chose the quadruped leg structure combined with wheel, that is, the wheel-leg connected type hybrid robot. According to the above Formulas (4) and (5), the theoretical turning radius of the
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