In consideration of the complex structure and control of the wheellegged robot currently, a kind of sixlegged robot with fast wheelrolling locomotion was presented whose structure was very simple. The robot had six compliant legs, which was divided into two groups and symmetrically distributed on both sides of the body and moved forward with wheelrolling mode. It could effectively reduce the ground impact and vibration. This robot which combined the advantages of wheeled robot and leg robot could not only adapt well to the environment but also had good mobile performance. The kinematics and dynamics analyses of the robot were carried out, its model was established by SolidWorks, and the motion simulation was carried out based on ADAMS.The results show that the designed structure is feasible and can achieve fast and stable motion.
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王均,王扬,何广.六腿轮式快速移动机器人设计与分析[J].机床与液压,2019,47(9):23-27. . Design and Analysis of Sixlegged Robot with Fast Wheelrolling Locomotion[J]. Machine Tool & Hydraulics,2019,47(9):23-27