轮腿式机器人混联腿的尺度优化与静刚度分析

马春生; 王乾垚; 苑鹏飞; 韩涛

doi:10.12382/bgxb.2025.0711

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轮腿式机器人混联腿的尺度优化与静刚度分析

更新时间：2026-04-24

- 轮腿式机器人混联腿的尺度优化与静刚度分析
- Scale Optimization and Static Stiffness Analysis of Series-parallel Legs for Wheel-legged Robots
- 兵工学报 2026年47卷第1期页码：250711
- 作者机构：
  
  中北大学机械工程学院，山西太原 030051
- 作者简介：
  
  *通信作者邮箱：3254385153@qq.com
- 基金信息：
  
  山西省基础研究计划项目(202203021211101);山西省重点研发计划项目(202202150401018)
- DOI：10.12382/bgxb.2025.0711
  中图分类号： TP242.6
- 收稿：2025-08-05，
  
  网络首发：2026-02-11，
  
  纸质出版：2026-01-31
- 稿件说明：
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马春生, 王乾垚, 苑鹏飞, 等. 轮腿式机器人混联腿的尺度优化与静刚度分析[J]. 兵工学报, 2026,47(1):250711.

MA Chunsheng, WANG Qianyao, YUAN Pengfei, et al. Scale Optimization and Static Stiffness Analysis of Series-parallel Legs for Wheel-legged Robots[J]. Acta Armamentarii, 2026, 47(1): 250711.
马春生, 王乾垚, 苑鹏飞, 等. 轮腿式机器人混联腿的尺度优化与静刚度分析[J]. 兵工学报, 2026,47(1):250711. DOI： 10.12382/bgxb.2025.0711.

MA Chunsheng, WANG Qianyao, YUAN Pengfei, et al. Scale Optimization and Static Stiffness Analysis of Series-parallel Legs for Wheel-legged Robots[J]. Acta Armamentarii, 2026, 47(1): 250711. DOI： 10.12382/bgxb.2025.0711.

摘要

针对轮腿式机器人在非结构化地形中腿机构机动性与承载刚度难以协同优化的瓶颈问题，提出一种新型2-PRU/UPR+UP混联轮腿机构。基于螺旋理论建立自由度模型，融合力传递性（Global Transmission Index

GTI）、转动能力（Global Rotation Capacity

GOC）和驱动力稳定性（Global Force Stability

GFS）等全域性能指标优化并联机构尺寸，结合速度/加速度性能图谱设计串联机构参数，并构建力旋量系与变形协调条件耦合的静刚度模型。优化后并联机构

GTI

＞0. 927、

GOC

＞124. 57°、

GFS

＜0. 921，串联机构速度全域指标

＞0. 472、加速度全域指标

＜0. 759。针对重载工况，优化显著提升了混联腿机构初始位姿刚度：

轴方向刚度提高29. 47%

轴、

轴方向刚度均提升10%，整体应力有所提高。优化后混联腿机构工作空间显著扩大（绕

轴转动范围

:-30°-30°，较优化前提升20%；绕

轴转动范围

:-20°-20°，较优化前提升33. 3%），且在

=1000 mm的任务空间内刚度分布均匀。有效解决了混联机构刚度衰减问题，显著提升了轮腿机器人在非结构化地形下的运动稳定性与承载能力，为军事侦察、战场物资运输、排爆作业等复杂高危环境下的高速稳定作业提供了可靠的机构设计依据。

Abstract

Aiming at the bottleneck problem that the mobility of leg mechanism and the load-bearing stiffness of the wheel-legged robot are difficult to optimize in a coordinated manner in unstructured terrain

a 2-PRU/UPR+UP series-parallel hybrid wheel-legged mechanism is proposed. A degree-of-freedom model is established based on the screw theory. The dimensional parameters of the parallel mechanism are optimized by integrating the global performance indices including global transmission index (GTI)

rotational capability (GOC) and global force stability (GFS) . The parameters of the serial mechanism are designed by combining the velocity/acceleration performance graphs. A static stiffness model is constructed by coupling the wrench system with deformation compatibility conditions. After optimization

the parallel mechanism achieves

GTI

＞0. 927

GOC

＞124. 57°and

GFS

＜0. 921. The serial mechanism achieves a global velocity performance index

＞0. 472 and a global acceleration performance index

＜0. 759. For heavy-load conditions

the initial posture stiffness of the series-parallel hybrid wheel-legged mechanism is significantly enhanced through the optimization:the stiffness in the X-axis direction is increased by 29. 47%

the stiffnesses inY-axis and Z-axis directions are enhanced by 10%

respectively

and the overall stress is acceptably increased. The working space of the optimized series-parallel hybrid leg mechanism is significantly expanded. The rotational range about the X-axis

is -30°-30°

which is increased by 20% compared with that before optimization; the rotational range about the Y-axis

is -20°-20°

ich is increased by 33. 3% compared with that before optimization. Uniform stiffness distribution is exhibited within the task space at

=1000 mm. This study is used to effectively solve the stiffness decay problem of series-parallel hybrid mechanism. The motion stability and load capacity of the wheel-legged robot in unstructured terrains are significantly enhanced. A reliable mechanism design basis is provided for high-speed and stable operational performance in complex and high-risk environments such as military reconnaissance

battlefield material transport

and explosive ordnance disposal (EOD).

关键词

Keywords

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