Multifunctional Parallel Six-wheel-legged Rescue Robot

doi:10.3901/JME.2024.21.014

Abstract

Abstract: In response to the demand for highly mobile, large payload and long duration mobile robot platforms for major natural disaster rescue missions, a multifunctional parallel six-wheel-legged rescue robot is proposed. A leg structure with pneumatic balance transmission linkages is designed to enhance load capacity. A power system using a combination of high-power-density batteries and a gasoline engine generator is adopted to improve endurance. A 7-degree-of-freedom manipulator is equipped to handle various tasks such as transportation and demolition. An environment perception platform incorporating multiple sensors and a remote operation control platform based on 5G communication network are built to enable remote human-robot interaction control. Both walking and driving locomotion modes are designed to satisfy the robot's basic motion requirements. Specifically, a variable body height and variable support surface wheel-legged compound locomotion mode is designed to tackle complex and harsh terrain conditions. A posture-stabilizing optimal controller is developed based on the robot's body dynamics model, working in conjunction with body height controller and foot force tracking controller to achieve active vibration isolation control during wheel-legged compound locomotion. The energy-saving effect of the pneumatic balance transmission linkages is validated through energy-saving tests. Obstacle crossing, trench crossing, and active vibration isolation experiments are conducted to validate the robot's capability in overcoming obstacles, stability on slopes and rugged terrains. These experiments lay the foundation for the robot to cope with harsh environments in disaster areas and accomplish rescue tasks.

Key words: wheel-legged robot, pneumatic balance, wheel-legged compound locomotion, active vibration isolation

CLC Number:

TP242

LIU Shangfei, WANG Junzheng, LIU Dongchen, ZHAO Jiangbo, SHEN Wei, WANG Shoukun. Multifunctional Parallel Six-wheel-legged Rescue Robot[J]. Journal of Mechanical Engineering, 2024, 60(21): 14-26.

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