轮腿式复合机器人设计及运动实现

通过机械结构和控制系统设计,研制了轮式和腿式独立运动的轮腿式复合机器人。应用PWM对机器人的关节控制进行了研究。分析了其腿式运动、轮式运动和轮腿变形的过程,并进行了实验验证。结果表明,研制的机器人具有结构简单、易于控制的特点,解决了现有轮腿式机器人运动时与地面摩擦力不够的问题,具有很好的应用前景。

Design and Motion Realization of Wheel-legged Mobile Robot

Through the mechanical structure and control system design, the wheel-legged robot which can complete the independent wheeled and legged movement is accomplished. Joint control of the robot is studied with PWM. The process of the legged movement, wheeled movement and wheel-legged deformation is analyzed and the experimental validation is carried out. The result shows that the robot has the advantages of simple structure and easy control. It solves the problem of insufficient friction while in motion of existing wheel-legged robot. The robot has very good prospects in terms of application.