轮腿式爬楼梯移动机器人的设计及运动特性分析

针对非结构化复杂环境对移动机器人的运动要求，结合轮式和腿式移动机构的优点，设计了一种高效、稳定的轮腿式爬楼梯移动机器人。设计了机器人的主要结构,分析了机器人的稳定性及转向性能。平地行走、转向、越障、上下楼梯等实验结果表明:设计的轮腿式爬楼梯移动机器人结构简单,运动灵活,控制方便,控制精度高,不需对运行步态进行预先规划,它不仅可以在崎岖不平的环境中实现快速行驶,而且实现了快速稳定的爬楼梯功能，具有很强的越障能力和环境适应能力。

Design and Motion Analysis of Wheel-legged Step-climbing Mobile Robot

In allusion to the motion requirements of mobile robot under unstructured complex environments,combining the advantages of wheeled and legged mobile mechanisms,a high efficient and stable wheel-legged step-climbing mobile robot was designed.The principal structure of the robot was designed,and the stability and the steering performance of the robot were analyzed.The experimental results of running on a flat ground,turning,surmounting obstacle and climbing up and down stairs etc. show that the wheel-legged step-climbing mobile robot designed herein has the characteristics of simple structure,flexible movement,convenient control and high control precision,and it is unnecessary to plan the motion gait in advance.The robot can ride  rapidly in the rugged environment and realize the function of fast and stable climbing steps,in addition,it is provided with strong surmounting obstacle capability and better environmental adaptability.