关键词: 轮腿式, 地面移动机器人, 越障, 动力学模型, 虚拟样机

Abstract:

According to the movement characteristics of parallelogram links mechanism, a wheeled UGV had remarkable performance of obstacle-surmounting. The new type wheel-legged UGV overcome the defects that the previous UGV could not cross the groove by adding swing arms and planet gears. It had good adaptability to the unstructured ground. The paper described the structure of the wheel-legged UGV in details, and analyzed the movement characteristics, and established the dynamics model by using the Lagrange equation. Finally, a virtual prototype was built for a group of feasible structure size, and the simulation results based on ADAMS software verify the feasibility of the wheel-legged UGV. 

Key words: wheel-legged, UGV(unmanned ground vehicle), obstacle-surmounting, dynamics model, virtual prototype