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

Chinese Journal of Mechanical Engineering 2020年第5期33卷 62-74页

作者： Chaoran Wei Yanan Yao Jianxu Wu Ran Liu School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China

Current research concerning legged platforms and wheeled platforms primarily focuses on terrain adaptive capability and speed capability,*** with wheeled platforms,legged platforms with a closed-chain mechanism still present deficiencies regarding speed *** integrate the advantages of these two types of platforms,a wheel-leg mobile platform with two modes based on a closed-chain mechanism is ***,a closed-chain mechanism that generates a high-knee trajectory in legged mode is designed and analyzed based on kinematic *** 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 *** addition,the particular structure of the leg group is designed to realize transformation between legged mode and wheeled *** mobility of the constructed platform is calculated through an obstacle-surmounting probability *** performances of the two motion modes are analyzed and compared by conducting dynamic ***,experiments are carried out to verify both the theoretical analyses and the prototype *** study proposes a new approach to designing wheel-leg platforms with prominent speed ability and mobility based on a closed-chain mechanism.

关键词： Wheel-leg mobile platform Closed-chain leg mechanism High-knee trajectory obstacle-surmounting probability

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