Development and Analysis of a Closed-Chain Wheel-Leg Mobile Platform

摘要

Current research concerning legged platforms and wheeled platforms primarily focuses on terrain adaptive capability and speed capability,respectively.Compared with wheeled platforms,legged platforms with a closed-chain mechanism still present deficiencies regarding speed ability.To integrate the advantages of these two types of platforms,a wheel-leg mobile platform with two modes based on a closed-chain mechanism is proposed.First,a closed-chain mechanism that generates a high-knee trajectory in legged mode is designed and analyzed based on kinematic analysis.To improve the platform’s obstacle-surmounting performance,the dimensional parameters of the closedchain mechanism are optimized and the design requirements for the platform’s frame are analyzed.In addition,the particular structure of the leg group is designed to realize transformation between legged mode and wheeled mode.The mobility of the constructed platform is calculated through an obstacle-surmounting probability analysis.The performances of the two motion modes are analyzed and compared by conducting dynamic simulations.Finally,experiments are carried out to verify both the theoretical analyses and the prototype performance.This study proposes a new approach to designing wheel-leg platforms with prominent speed ability and mobility based on a closed-chain mechanism.