Design and Kinematics Analysis of Wheel-1eg Hybrid Robot with Four-1egs
Zheng Hui
Wang Min
Wang Xinjie
Wang Caidong
Abstract：According to the prob1em that the whee1ed robots have poor abi1ity to adapt terrain,and the 1egged robot moving speed is 1imited,a whee1-1eg hybrid robot with four-1egs is designed,which can both craw1 and ro1l.And the robot is driven by steel wire rope with torsional spring scheme to realize switching function of working manner.In the overall design of the robot,the legs are detailed designed.The kinematic equation of standing leg is established by the D-H method,and the correctness of the kinematic equations is verified by Geometric method.The swinging leg motion space is obtained by MATLAB software.And the ability of the robot obstacle is analyzed.
Keywords：Wheel-leg hybrid Robot with four-legs Kinematic model Motion space
Publication Date：2015-01-01
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)