Design and research of the walking mechanism of a variable telescopic wheel-legged robot
MAO Xinming
BAI Jinwei
CHI Jinling
LI Zhe
GAO Jiaxin
Abstract：[Objective]Aimed at the functional limitations of traditional wheel-legged robots in complex terrain environments,a design method for a variable telescopic wheel-legged robot was proposed.By adjusting the motor speed,the mechanism could change the distance between the wheels and the ground,and realize multiple actions such as variable diameter of the telescopic wheels and direction change of the wheel-legged robot.[Methods]A detailed design and model construction of the structure were conducted using SolidWorks software.Different motion modes were achieved by changing the motor speed.The operating mechanism of the variable telescopic wheel-legged structure was elaborated in detail.The wheeled mode was adopted for traveling on flat roads,while the legged mode could surmount obstacles under complex terrain conditions.Kinematic models for the straight-moving and turning modes of the wheel-legged robot were established using differential equations,and dynamic analysis was performed using the Lagrangian model.Finally,virtual prototype simulation of the robot's walking on flat and complex roads as well as obstacle surmounting was carried out using Adams software.[Results]The simulation results show that the proposed variable telescopic wheel-legged robot is highly feasible,can adapt to various complex terrains,possesses the stability of wheeled mechanisms,and meanwhile has the high obstacle-surmounting capability of legged mechanisms.
Keywords：Wheel-legged robotObstacle surmountingVariable diameter structureLagrange equationAdams simulation
Publication Date：2025-11-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 96-102,176 )