Design and Analysis of a Novel Deformable Wheel-legged Robot

doi:10.3901/JME.2022.03.065

Abstract

Abstract: A novel deformable wheel-legged ground mobile robot is proposed, which moves in wheeled and legged modes by the same power. Firstly, a single-loop closed-chain 2RP3R metamorphic mechanism is proposed by combining Chebyshev mechanism with parallelogram mechanism, which realizes two single-freedom motion forms. The configuration design and kinematics analysis are carried out. Secondly, a novel deformable wheel-legged robot is constructed by wheel-legged mobile modules which are composed of two single-loop closed-chain metamorphic mechanisms. The robot has 256 motion forms which are achieved through the same power. It can switch between multi-legged states and cross through the space at different heights. The mode-switching is carried out when the crank is collinear with the rack so that the recovery from overturning is achieved. Thirdly, the mobility of the robot is analyzed, and the average obstacle-crossing ability in the legged mode and the average speed ratio in the two modes are obtained. Lastly, the virtual prototyping model is established and the simulations of level-moving, obstacle-crossing, steering and mode-switching are completed. A prototype is fabricated, and the feasibility of the idea is verified by carrying out moving experiments in the two modes.

Key words: deformable, wheel-legged robot, single-loop closed-chain mechanism, metamorphic mechanism

CLC Number:

TP242

LIU Chao, TAN Xicen, YAO Yanan, FU Zhiyang. Design and Analysis of a Novel Deformable Wheel-legged Robot[J]. Journal of Mechanical Engineering, 2022, 58(3): 65-74.

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