Spatial stiffness study of parasitic mechanism-based wheel-legged robots
WEI Wei
ZHU Lin
HUANG Bin
HUANG Yi
WU Jing
ZHANG Hao
Abstract：[Objective]To address the problems of low computational efficiency and significant deviation from test results in the stiffness analysis of complex spatial multi-link mechanisms,a parallel decoupled multi-link wheel-legged robot was designed based on the host-parasitic mechanism,aiming to achieve efficient and accurate spatial stiffness modeling and analysis.[Methods]Firstly,the configuration of the wheel-legged robot was constructed according to the host-parasitic mechanism to provide a structural basis for subsequent stiffness modeling;secondly,a spatial fitting stiffness distribution(S-FSD)model composed of very few computational units was established using Matlab software to simplify the stiffness calculation process;then,reference data were obtained through static simulation with Ansys software,and the model parameters were fitted by the Monte Carlo method to improve the computational accuracy of the model;finally,physical tests were conducted to verify the correctness of the established model.[Results]The results show that the computational efficiency of the S-FSD model is significantly improved,with the computation time reduced by more than 99.35%.The maximum deviation for a single pose is 4.06%,the maximum deviation after comprehensive multi-pose fitting is 19.66%,and the maximum deviation from the measured stiffness is only 14.5%.Meanwhile,the differential regularity of stiffness distribution in the x,y,and z directions of the robot is revealed,providing a reference for the structural optimization and trajectory planning of wheel-legged robots.
Keywords：Host-parasitc mechanismWheel-legged robotStiffness modelingFinite element simulation analysisSpatial multi-link mechanism
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 79-86 )