Design of Military Wheel-leg Hybrid Quadruped Robot

doi:10.3969/j.issn.1000-1093.2018.04.019

Abstract

Abstract: A military wheel-leg hybrid quadruped robot is developed, which can move by the dynamic driving wheels on the road without being damaged at high speed, and can walk by stepping alternately in the ruins with its mechanical legs, and can skate on a flat road by the wheels without dynamic driving. The robot can walk at the maximum speed with the minimum energy consumption. A new type of metamorphic mechanical leg based on the 3-PUPS parallel mechanism is proposed, and its kinematic analysis is done. The effects of dimension parameters of 3-PUPS mechanism on its kinematic and static evaluation indexes are analyzed by defining performance evaluation indexes. A set of the structural parameters of mechanical leg is selected, and an experimental prototype of mechanical leg is developed. A general mechanism model of wheel-leg hybrid quadruped robot is established, and the relationship among robot's parameters and its kinematic and static evaluation indexes is revealed. A set of structural parameters of wheel-leg hybrid quadruped robot is selected, and the overall design of wheel-leg hybrid quadruped robot is completed. The pose of mechanical leg experimental prototype is measured using a special robot calibration system. Experimental results show that the maximum error of mechanical leg motion platform along x axis is 0.041 mm, the maximum error along y axis is 0.040 mm, the maximum error along z axis is 0.040 mm, the maximum error of the attitude angle around z axis is 0.041°, the maximum error of attitude angle around y axis is 0.043°, and the maximum error of attitude angle around x axis is 0.045°. The experimental prototype of mechanical leg meets the design requirements.Key

Key words: robot, wheel-leghybrid, parallelmechanicalleg, experimentalprototype

CLC Number:

TP242.3

QU Meng-ke， WANG Hong-bo， RONG Yu. Design of Military Wheel-leg Hybrid Quadruped Robot[J]. Acta Armamentarii, 2018, 39(4): 787-797.

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第39卷
第4期2018 年4月兵工学报ACTA
ARMAMENTARIIVol.39No.4Apr.2018

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