针对目前移动机器人爬坡！越障能力不强的问题，设计了一种新型的移动机器人。该机器人采用轮腿式的移动结构，兼顾了腿式移动机器人和轮式移动机器人的优点。位于机器人两侧的机械腿，承担主要的行走功能，通过机械腿的旋转与伸缩，可以增加机器人跨越障碍的能力；机器人的前后端增加了辅助机械腿，在机器人爬坡的时候，后机械腿可以主动为机器人提供推力，增大了机器人的爬坡能力。通过机械腿之间的协调运动，机器人可以跨越深沟路段。针对各种路况对移动机器人进行了运动规划，并建立了机器人爬坡时的动力学模型。%For the problem that the climbing ability of existing mobile robots is not strong enough,a new mobile robot was de-signed. The robot had multi wheel-leged moving mechanism which had the merits of both wheeled mobile robot and legged mobile ro-bot. The mechanical legs on both sides of the robot undertook the main moving ability. They could also rotate and expand or contract which enhances the ability of the robot to stride across obstacles. Assistant mechanical legs were added to the front and back ends of the robot. When the robot climbed,the back mechanical legs could give a propulsive force which improved the climbing ability of the ro-bot. Through the cooperation of the mechanical legs,the robot could stride over a ditch. The motion was planned for the robot under several kinds of road conditions. Dynamic model of the robot was established while climbing.
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