Design and simulation of a wheeled-legged power plant inspection robot
DENG Yangtai
WU Binghui
Abstract：[Objective]For the inspection of power plants,a novel wheeled-legged inspection robot was proposed,integrating the characteristics of wheeled and legged robots.[Methods]Firstly,a knee joint power switching device was designed to improve the reusability of motors.Secondly,the suspension of the robot was designed and simulated,demonstrating that this design can reduce the peak torque of the thigh joint motor.Finally,to enhance the stability of the robot motion,an asymmetric leg layout scheme and a stability control strategy based on supporting polygons were proposed.[Results]Validation through Webots demonstrates the robot's capability in walking on unstructured surfaces and overcoming obstacles,meeting the requirements of inspection tasks.
Keywords：Wheeled-legged robotStructural designSize optimizationStability control strategy
Publication Date：2025-06-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 86-93 )