Optimization of the Four Link Mechanism of the Legs of a Double-wheeled Legged Robot
The double-wheeled legged robot is a new type of robot,which adopts the structure of two wheels and two legs,and can walk and move on uneven ground.In order to solve the problem that the horizontal position of the center of mass changes too much during the lifting and descending process of the robot,which affects its motion stability,the mathematical model of the opti-mization design of the four link mechanism of the robot leg is established,and the parametric model of the four link mechanism is established by using the software ADAMS.The size parameters of the leg bar of the wheel-legged robot are optimized to find the optimal solution.According to the optimization results,after the parameter optimization of the four-link,the deviation of the x-direction displacement is reduced from 10.8317 mm to 2.3918 mm,and the stability of the robot leg is improved during the lift-ing process.
double-wheeled legged robotfour link mechanismoptimizationstability
NETL
NSTL
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