An Electric Wheel-Foot Robot Based on Parallel 6-DOF Structure
LIU Dongchen1,2, WANG Junzheng1,2, WANG Shoukun1,2, SHEN Wei1,2, PENG Hui1,2
1. Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China;
2. Key Laboratory of Servo Motion System Drive and Control, Ministry of Industry and Information Technology, School of Automation, Beijing Institute of Technology, Beijing 100081, China
Abstract：Since the existing quadruped robots based on tandem mechanical leg structure can't meet the requirements of large carrying capacity, strong environmental adaptability and fast moving speed simultaneously, a structural principle of a wheel-foot robot based on parallel 6-DOF (degree of freedom) structure is proposed which integrates the advantages of wheel and foot motion. Based on the kinematics and dynamics analysis of the parallel wheel-leg, a dynamic model of a single leg and a kinematic model of the robot are established. A posture adjustment algorithm of the robot body is proposed, which improves the posture stability of the robot in movement effectively. Simulation and experimental results show the feasibility of the proposed wheel-foot robot and the effectiveness of the robot posture adjustment strategy in wheeled motion.
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