一种新型变结构轮腿式机器人的设计与分析

Design and analysis of a novel metamorphic wheel-legged rover mechanism

提出一种新型轮腿混合式变结构机器人的设计思想。这种机器人综合了轮式机器人和腿式机器人的优点,并结合可变宽变窄的车身,使其能更好地适应复杂的环境。对该变结构机器人的设计进行阐述,分析其构态的变化特点,对机器人的典型步态进行规划,并计算不同运动形态下的自由度,建立机器人步态行走时抬起腿足端与整个机器人关节运动系统的运动学模型,并给出了实例仿真结果。

A novel design of metamorphic hybrid wheel-legged rover was proposed, which possesses both advantages of the two manners of locomotion such as walking in 4-leg mode and moving in wheeled-vehicle mode. The width of its body can be changed due to the special body mechanism, the novel rover has high capability to adapt the complex terrain. The design of this novel metamorphic robot was particularly presented. Some potential configurations corresponding to the environment and functional requirement were illustrated, and its DOF was analyzed. The kinematics modeling when the rover is moving with leg is built, and the simulation result of the typical gait was presented.