轮腿式微型机器人系统研究

轮腿复合式机器人是在轮式机器人的基础上，通过优化轮子设计以达到快速灵活运动的一种新型的地面移动系统。该机器人主体由机架、两条主轴、齿轮减速机构、轮腿复合机构组成，由单电机驱动，控制系统相对简单。该机器人相比于普通轮式机器人具有较强的越障能力，且结构精简、体积小、重量轻。采用ADAMS对该机器人进行了运动学和动力学仿真，详细探讨了其越障能力、安装相位、轮腿结构、步态等关键问题，为其物理样机的设计、优化和控制提供了理论依据。

Research on mobile small robots with combined wheels and legs

A novel highly mobile small robot is described,which benefitted from abstracted locomotion principles of cockroach. The different from the conventional robots are the three spoked appendages,which combine the speed and simplicity of wheels with the climbing mobility of legs. The robot uses four three-spoke appendage in an alternating diagonal gait. When a spoke of a leg completes its stance phase,another spoke on the same leg is two-thirds of the way through its swing phase and nearing stance, and the third spoke (the last to complete stance) is one-third of the way through its swing phase. A single motor can be used to drive all three-spoke appendage through chains and sprockets. So the robot has the advantage of simplicity and yet they can run quickly and climb large obstacles.