Design of A Novel Wheel-Legged Robot with Rim Shape Changeable Wheels  

作　　者：Ze Fu Hao Xu Yinghui Li Weizhong Guo 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China

出　　处：《Chinese Journal of Mechanical Engineering》2023年第6期62-72,共11页中国机械工程学报（英文版）

基　　金：Supported by State Key Lab of Mechanical System and Vibration Project of China(Grant No.MSVZD202008).

摘　　要：The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain.However,most of the wheel-legged robots only have one-directional obstacle-crossing ability.During the motion,most of the wheel-legged robots’centroid fluctuates violently,which damages the stability of the load.What’s more,many designs of the obstacle-crossing part and transformation-driving part of this structure are highly coupled,which limits its optimal performance in both aspects.This paper presents a novel wheel-legged robot with a rim-shaped changeable wheel,which has a bi-directional and smooth obstacle-crossing ability.Based on the kinematic model,the geometric parameters of the wheel structure and the design variables of the driving four-bar mechanism are optimized separately.The kinetostatics model of the mobile platform when climbing stairs is established to determine the body length and angular velocity of the driving wheels.A pro-totype is made according to the optimal parameters.Experiments show that the prototype installed with the novel transformable wheels can overcome steps with a height of 1.52 times of its wheel radius with less fluctuation of its centroid and performs good locomotion capabilities in different environments.

关 键 词：Mobile platform Transformable wheel-legged robot Kinematics analysis Mechanical design OBSTACLE 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]