六足机器人轮腿结构设计与仿真分析

Wheeled Leg Structure Design and Analysis of Six-legged Robot

针对移动机器人在复杂地形环境适应能力弱的问题,设计一种新型六足轮腿复合式机器人。对机器人的基本结构及轮腿结构进行设计,阐明轮-腿模式转换机理,简述腿式三足步态及轮式步态规划,利用ADAMS软件对机器人进行动态仿真,并对轮腿结构进行有限元分析。仿真结果表明:六足机器人轮腿结构满足设计要求,能通过转换轮腿结构使机器人以腿式或轮式模式移动,兼具腿式、轮式2种机器人的优点。

Focusing on the bad adaptability of the mobile robot in complex terrain, a new type of robot with six wheeled legs was designed. Its basic structure and wheel-legged structure were designed, and the mechanism of the wheel-leg conversion was illustrated. Then, three-legged gait and wheeled gait were planned briefly, and the dynamic simulation of the robot was carried out with ADAMS software. And the wheeled leg was analyzed based on the finite element method later. The simulation results show that the structure of the robot＇s leg satisfies the design requirements, and the robot can walk in legged mode or wheeled mode by transforming its leg structure, which gives it the advantages of both legged robots and wheeled ones.