具有悬挂系统的轮腿式机器人设计与分析

设计了一种具有独立悬挂系统和足端缓冲机构的六足轮腿式机器人.该机器人结合了轮式机器人和腿式机器人的优点，同时将汽车的独立悬挂系统的设计思想应用在机器人上，降低了不平整地面对机器人的冲击，并减轻了由此引起的振动，保证了机器人在不同的复杂环境下机身内部环境的稳定.本文对该机器人的机构与结构进行阐述，建立了其运动学模型以及其悬挂系统机构和足端缓冲机构的单自由度振动模型，并对其缓冲机理进行分析对比.通过ADAMS仿真软件在不同地形环境下对其进行动力学仿真分析，验证了在机器人的运动过程中，与足端缓冲机构相比，悬挂系统的缓冲减震效果受地形影响较小，且悬挂系统和足端缓冲机构相结合会比单一缓冲机构具有更好的缓冲减震作用.

Design and Analysis of a Wheel-Legged Robot with a Suspension System

A 6-leg wheel-legged robot with an independent suspension system and a foot buffer mechanism is designed, which combines both advantages of the legged robot and the wheeled robot. An independent suspension system referred to the vehicles is applied to the robot to buffer the impact on the robot from the uneven ground and reduce the vibration, so that the inner environment can be stabilized in different complex environments. The mechanism and the structure of the proposed robot are particularly presented. The kinematics models of the robot, and the single-degree-of-freedom vibration models of its suspension mechanism and foot buffer mechanism are developed, and the buffering mechanisms are analyzed and compared. Dynamics simulations and analysis are carried out in different terrains with the software ADAMS. The results show that the independent suspension system can adapt better to different terrains in robot motion than the foot buffer mechanism, and the design combining both the suspension system and the foot buffer mechanism has a better buffering function than the design with a single buffer mechanism.