A Novel Six Wheel-legged Robot: Structure Design and Stability Analysis in Different Typical Gaits

摘要

Wheel-legged robot which combines the advantages of wheeled robot and legged robot can be better adapted to complex environment. Increasing the operation function of the robot is one of the hottest topics in this field. A novel six wheel-legged robot is designed in the form of leg structure, body structure and the combination between wheels and legs. The DOF of single leg and multi-legged closed loop mechanism are analysed. Based on the forward kinematics analysis of single leg, a novel computational method of three-dimensional workspace size is presented. Three different manipulation modes are introduced. Finally, the stability of walking on horizontal plane in four typical '3+3' tripod gaits and slope in '3+1' gait is analysed by using different judgment methods. This novel robot structure design lays foundation for leg and limb flexibly switching, the stability analysis in different gaits provides a theoretical basis for the further study on robot mobility performance.