轮腿式机器人的设计与运动仿真

Design and Motion Simulation of Wheeled Legged Robot

为满足人们在行星探测、抢险救灾以及军事等领域的需求。设计了一种轮腿式机器人,该机器人由机架以及四条腿组成,轮子安装在机器人的腿上,可以通过腿部机构的变化在轮式和腿式间自由转换。确定了轮腿式机器人的腿部结构、以及轮腿转换方式,并且根据相关理论确定了轮腿式机器人腿部关节的朝向布局和整体布局,应用SolidWorks软件建立了轮腿式机器人的三维模型,并进行了运动仿真。使用ADAMS软件,对机器人进行了运动分析,得到运动线图。

In order to meet people's needs in planetary exploration,rescue and disaster relief,military and other fields,a wheeled legged robot is designed.The robot is composed of a frame and four legs.The wheels are installed on the legs of the robot and can be freely converted between wheeled and legged through the change of leg mechanism.The leg structure and conversion mode of the wheel leg robot are determined,and the orientation layout and overall layout of the leg joints of the wheel leg robot are determined according to the relevant theories.The motion model of the virtual prototype is established and simulated by SolidWorks software.Using ADAMS software,the motion of the robot is analyzed and the motion line diagram is obtained.