Design and Analysis of a Multimodal Wheel-Legged Mobile Robot
Mobile robots,which are essential tools for intelligent exploration and reconnaissance,have incredible potential applications in areas such as space exploration and disaster relief.Their maneuverability and obstacle-crossing capabilities make them highly favored.However,most existing wheel-legged mobile robots lack deform-ability,limiting their motion modes and reducing average terrain adaptability.Moreover,these robots often face challenges like collisions with obstacles,making it difficult to balance climbing capcity and obstacle-crossing per-formance.To address these issues,this paper proposed a wheel-legged mobile robot equipped with a multibar linkage deformable mechanism for its body.The innovative design of the robot's legs and deformable body formed the basis for establishing an overall kinematic model.Three distinct motion modes were developed:synchronous gait,rolling gait,and coiling-extension gait.The robot's motion performance was analyzed across various terrains(flat ground,soft terrain,ascending slop,decending slope,and obstacle)to reveal the mapping relationship between the robot's structural parameters and terrain features,such as climbing angle and obstacle height.Finally,a physical prototype was built,and experiments were conducted based on the theoretical analysis.The experimental results demonstrate that the designed multimodal wheel-legged mobile robot has a maximum climbing angle of 44° and can overcome obstacles up to 28 mm in height.These findings highlight the robot's excellent climbing capcity and obstacle-crossing performance.Furthermore,owing to its multimodal motion characteristics,the robot exhibits good traversability on various terrains,including flat ground and soft terrain.This effectively validates the feasibility of the robot design.This paper provides valuable references for the design and application of multimodal wheel-legged mobile robots.
multimodal mobile robotwheel-legged mobile robotkinematics modelingexperimental research
NETL
NSTL
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