轮足式动力切换四足机器人建模及其足端轨迹规划OA

This paper designs a leg structure of a wheel-legged robot with strong adaptability and power switching capability based on planetary gear systems.The optimized modified cycloidal trajectory planning and wheel-legged switching foot-end trajectory planning are introduced.The position,speed and acceleration curves in different directions are continuous,smooth and without sudden changes,meeting the control requirements of the robot.Based on the virtual model control method,through WEBOTS platform simulation and single-leg physical prototype experiments,it is found that the deviation of the swing trajectory is concentrated at the end position of the swing phase and the highest point of the lifting leg,respectively,about 20 mm and 5 mm;the maximum deviation of the repeated positioning of the mechanism is 4 mm,which is only about 22.2%of the radius of the foot-end components(18 mm);the average error of the wheel-legged switching foot-end trajectory in the X direction is approximately 2.4 mm,and of 1.26 mm in the Y direction,which can complete the posture switching task.The above conclusions provides better guidance for the design of wheel-legged composite robots.