机械科学与技术2025，Vol.44Issue(6)：956-968,13.DOI:10.13433/j.cnki.1003-8728.20230251
一种新颖的轮腿式机器人腿部结构设计与分析
Design and Analysis of Leg Structure of Novel Wheeled-legged Robot
摘要
Abstract
Quadruped robots are very popular because of their good terrain adaptability,but the poor battery life is also prominent due to high energy consumption.Wheel-footed robots are just the opposite,so wheel-legged robots came into being.The leg structure of a wheeled-legged quadruped robot is innovatively designed,which can switch freely between the wheel and foot movements according to different terrain,and it can consider the terrain adaptability and energy consumption optimization.The stable leg triangle support structure and independent suspension device are designed for the movement,which enhances the stability of the wheeled movement and the flexibility of the legs.The force analysis of the leg structure is carried out,and the key parameters of the joint motor are selected;the finite element analysis and lightweight design of the leg structure are carried out according to the output torque of the joint motor,and the inertia of the leg is well controlled.The kinematic models of the robot's foot and wheel are established.Finally,the feasibility and rationality of the wheel-foot motion of the leg structure design are verified by using the kinematics simulation.关键词
四足机器人/轮腿式/轻量化/独立悬挂Key words
quadruped robot/wheeled-legged/lightweight/independent suspension分类
信息技术与安全科学引用本文复制引用
陈明方,朱恩枭,魏松坡,黄良恩,张永霞..一种新颖的轮腿式机器人腿部结构设计与分析[J].机械科学与技术,2025,44(6):956-968,13.基金项目
国家自然科学基金项目(51965029)、国家重点研发计划(2018YFB1306103)及云南省重大专项课题(202002AC080001) （51965029）
