Study on structural modeling and kinematics analysis of a novel wheel-legged rescue robot

Shanshan Li,Hongmin Shi,Dong Li,Hongbo Wang,Shaozhen Wu,Nicolae Pop,Jianye Niu

doi:10.1177/1729881417752758

Shanshan Li, Hongmin Shi + Show 5 more

Open Access

https://doi.org/10.1177/1729881417752758

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Abstract

This article presents a novel rescue robot with three-degrees of freedom leg mechanism based on the serial–parallel and wheel-legged mechanisms, which consists of two Universal joint- Prismatic joint- Spherical joint plus one Universal joint and Revolute joint serial–parallel mechanism. Firstly, the structure model of the whole mechanism and the leg mechanism is developed, the dimension parameters of leg mechanism are designed, and the degrees of freedom of the whole mechanism and the leg mechanism is analyzed. Secondly, the forward and backward position solutions of the swing leg and the standing leg are solved, and the work space is obtained. Thirdly, the kinematics is investigated by the influence coefficient method, including the Jacobi matrix and linear velocity and angular velocity of each rod’s centroid of the leg mechanism. Finally, the simulation and experiment are carried out, and the feasibility of this wheel-legged rescue robot and the correctness of the above research are verified.

Highlights

With the improvement of robots’ performance, the mobile robot can play a key role in our lives in the near future
The mobile robot has been used in wide range of application, they can be used in service industry, such as manufacture industry, agriculture, national defense, and healthcare field and can be widely used in some extremely dangerous situations such as mine clearance, search-andrescue in the earthquake area, radiation area, and other special field
Two types of mobile robot are studied at present, which are wheeled mobile robot and legged mobile robot

Summary

Introduction

With the improvement of robots’ performance, the mobile robot can play a key role in our lives in the near future. The lower legs retract and the wheels contact with the ground, which is equivalent to a four-wheel mobile robot and the speed is fast. At this moment, each leg is a parallel structure and has 2-DOF, so that the robot has the advantages of large load and good rigidity, and its flexibility and carrying capacity are greatly improved.

Model of dynamic walking of quadruped

Constraints of each rod

Conclusion