两侧对称式六足轮腿机器人的设计与分析

Design and Analysis of Hexapod Robot with Symmetrical Wheel-legs

针对目前轮腿式机器人在复杂路况下越障时机身稳定性有限的问题,利用SolidWorks 2020软件创建三维模型,采用轮腿复合结构,根据依次步态运动方式对机器人的运动过程进行策略规划,设计出一种两侧轮腿对称分布的六足机器人。实验表明,在舵机的控制下,该六足机器人既可以在水平路面进行轮式行驶与转向,又可以进行机械轮腿式行走与转向,且在运动状态下能维持机身稳定。

To address the problem that the current wheel-legged robot has limited abilities to maintain stability when climbing over obstacles on complicated road surfaces,a hexapod robot with symmetrical wheel-legs was designed by creating a three-dimensional model with SolidWorks 2020.The robot adopted the wheel-leg composite structure and its motion was strategically planned according to sequential gaits.The experimental results show that such a hexapod robot,controlled by the steering engine,can use not only its wheels but also its mechanical wheel-legs to move and divert on horizontal surfaces while keeping its body stable in motion mode.