Development and Analysis of a Closed-Chain Wheel-Leg Mobile Platform  

作　　者：Chaoran Wei Yanan Yao Jianxu Wu Ran Liu 

机构地区：[1]School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China

出　　处：《Chinese Journal of Mechanical Engineering》2020年第5期62-74,共13页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant No.51735009).

摘　　要：Current research concerning legged platforms and wheeled platforms primarily focuses on terrain adaptive capability and speed capability,respectively.Compared with wheeled platforms,legged platforms with a closed-chain mechanism still present deficiencies regarding speed ability.To integrate the advantages of these two types of platforms,a wheel-leg mobile platform with two modes based on a closed-chain mechanism is proposed.First,a closed-chain mechanism that generates a high-knee trajectory in legged mode is designed and analyzed based on kinematic analysis.To improve the platform’s obstacle-surmounting performance,the dimensional parameters of the closedchain mechanism are optimized and the design requirements for the platform’s frame are analyzed.In addition,the particular structure of the leg group is designed to realize transformation between legged mode and wheeled mode.The mobility of the constructed platform is calculated through an obstacle-surmounting probability analysis.The performances of the two motion modes are analyzed and compared by conducting dynamic simulations.Finally,experiments are carried out to verify both the theoretical analyses and the prototype performance.This study proposes a new approach to designing wheel-leg platforms with prominent speed ability and mobility based on a closed-chain mechanism.

关 键 词：Wheel-leg mobile platform Closed-chain leg mechanism High-knee trajectory Obstacle-surmounting probability 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]