重庆理工大学学报2025，Vol.39Issue(9)：163-169,7.DOI:10.3969/j.issn.1674-8425(z).2025.05.020
寄生式轮腿机器人腿部机构刚度的实验分析
Experimental analysis of leg mechanism stiffness in parasitic wheel-legged robots
摘要
Abstract
A host-parasitic wheel-legged robot with high stiffness is proposed to address the low stiffness of the tandem mechanism-type wheel-legged robot with low stiffness.First,based on the host-parasitic mechanism evolution law,five parasitic mechanism-type prototypes are evolved by continuously adding parasitic struts to the host robot.Then,four extreme limit postures are selected to conduct the stiffness experiments in the robot workspace.Finally,the parasitic evolution law of the robot's stiffness in the moving platform is analyzed through the experiments.With the introduction of parasitic branches,Prototype A gradually evolves into Prototype E,the stiffness in all directions under the postures P1、P2、P3 and P4 has been significantly enhanced.Especially in the y direction,which is the main load-bearing direction,Prototype E has achieved a substantial increase in stiffness compared with Prototype A.The stiffness in the four postures has been improved by 782.63%,2 315.24%,2 061.74%,and 1 782.53%respectively.This research provides important theoretical basis and experimental data support for the optimized design of wheel-leg robots.关键词
宿主-寄生机构/轮腿机器人/寄生演变/刚度Key words
host-parasitic mechanism/wheel-legged robot/parasitic evolution/stiffness分类
机械制造引用本文复制引用
韦为,黄亿,张昊,朱霖,黄斌,巫静..寄生式轮腿机器人腿部机构刚度的实验分析[J].重庆理工大学学报,2025,39(9):163-169,7.基金项目
国家自然科学基金项目(51765005) （51765005）
广西自然科学基金项目(2023GXNSFAA026378) （2023GXNSFAA026378）
广西高校中青年教师科研基础能力提升项目(2023KY0018) （2023KY0018）
