Structural design and parameter optimization of symmetric suspension hybrid wheel-legged robot
In this article,in order to ensure that the robot can move flexibly in the underground space with low energy con-sumption,efforts are made to design a symmetrical suspension hybrid wheel-legged robot;the performance equilibrium optimiza-tion method(referred to as the equilibrium optimization method)is proposed based on the sand cat swarm optimization algorithm,so as to optimize the wheel-legged structure parameters.In combination with the symmetric quadrilateral mechanism and the sus-pension system,a symmetric suspension hybrid wheel-legged structure is designed,and the kinematics and dynamics models are set up.Efforts are made to explore the influence of the leg length on the single wheel-legged robot's motion space and flexibility index.The initial leg length of 0.3 m is determined by pre-optimization.Based on the reasonable planning space and high flexi-bility of wheel-legged obstacle crossing,in order to achieve low energy consumption,the evaluation index of wheel-legged per-formance equilibrium optimization is identified,and the leg length is optimized with the help of the equilibrium optimization meth-od.The results of numerical calculation show that the optimal values of the thigh and calf rod lengths are 0.23 m and 0.3 m re-spectively.The wheel-legged energy consumption is 23.18 J,the motion space is 0.132 2 m2,and the flexibility index ranges from(0.2,1).After optimization,the flexibility remains unchanged,the motion space reduces by 24.54％,and the energy con-sumption reduces by 22.60％.It has proved that this method,which is reasonable and effective,provides a new idea for design and optimization of wheel-legged robots.
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