Structure Design and Simulation Analysis of Wheel-legged Metamorphic Robot
In view of the complex working environment of mining robot,a wheel-legged metamorphic robot was designed.The robot uses a metamorphic mechanism,which can realize three configurations of hexapod,quadruped,and wheel.In the unstructured environment,it can walk on quadruped or hexapod configuration,and in the structured environment,it can drive on wheel configuration,thus having strong environmental adaptability.The motion process of the robot was simulated by using ADAMS software,verifyied the feasibility of the morphing structure design,determined the robot prototype structure,and initialized the control strategy.The wheel-legged metamorphic robot can conveniently change its configuration according to different environments and working conditions,broadening the design ideas of crawling robots and promoting the application of metamorphic mechanisms in mining robot.
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