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Volume 42 Issue 1
Jan.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(1): 59-71.
XU Kun, ZHENG Yi, DING Xilunet al. Structure design and motion mode analysis of a six wheel-legged robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(1): 59-71. doi: 10.13700/j.bh.1001-5965.2015.0021(in Chinese)
Citation: XU Kun, ZHENG Yi, DING Xilunet al. Structure design and motion mode analysis of a six wheel-legged robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(1): 59-71. doi: 10.13700/j.bh.1001-5965.2015.0021(in Chinese)
shu

Structure design and motion mode analysis of a six wheel-legged robot

doi: 10.13700/j.bh.1001-5965.2015.0021
  • 1.

    School of Mechanical Engineering & Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • 2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China

Funds:  National Science Fund for Distinguished Young Scholars(51125020); National Natural Science Foundation of China(51305009); State Key Laboratory of Robotics and System (HIT); CAST Innovation Foundation
  • Received Date: 11 Jan 2015
  • Publish Date: 20 Jan 2016
    Abstract
  • The research of hybrid locomotion robot has become one of the hottest spots of mobile robots. Wheel-legged robot which combines the advantages of wheeled robot and legged robot can be better adapted to complex environment. A new combination between wheels and legs is proposed and a new circumferential symmetry wheel-legged robot is designed. It can transit its locomotion mode by changing its configuration. Meanwhile, it reduces mechanism complication and avoids the fray of wheels while they are used as feet in legged motion mode. Because of its special structure, four typical "3+3" tripod gaits and the equivalent mechanisms in different walking gaits processes are presented and transition between them is analyzed. The forward and inverse kinematics models of single leg are built. Based on its structure, planning of motion mode transition from wheeled motion mode to legged motion mode and from legged motion mode to wheeled motion mode is given and simulated in software. Its wheeled motion mode and steering problem are analyzed and illustrated,and four steering models are built. Some tests with wheel-legged robot prototype are made to verify its ability of locomotion both in legged mode and wheeled mode and its capability of transition between different motion modes.

     

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