Design and Motion Analysis of Wheel-leg Compound Variable Displacement and Obstacle Surmounting Robot

摘要

Aiming at the characteristics of unstructured environment, this paper proposes a new type of wheel-leg compound mobile robot suitable for unstructured environment. This innovation is that the robot adopts the wheel-leg compound configuration and sliding structure of the fuselage, and it can carry out the load to the heightened surface with large height difference through the deformation of the body without the need of auxiliary. In the process of crossing the barrier, the robot can keep the load plane parallel to the ground and the robot has a strong ability to adapt to the environment and the ability to obstruct the obstacle. The performance of the mobile robot under unstructed environment, including walking on slope, surmounting obstacles, striding ditchs, stepping up and down ladders etc., is analyzed.