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As the increasing demands of mobile robots in emergency, disaster relief and military fields, mobile robots is expected to flexiblely and accurately adapt to unstructural terrains and accurately reach desired destinations. A variable configuration wheeled-legged robot is proposed and designed, in which all joints of the wheeled-legged robot is designed as offset structures to ensure the all joints rotation range is around 360° and the leg configuration can adjust based on the ground situation. An omnidirectional three-degree-of-freedom leg and an embedded drive wheel were designed for the robot, and then its kinematics were modeled to obtain the performance parameters of the joint module. Corresponding drive control software system and hardware system are designed for the robot. Finally, the motion simulation of the robot was carried out in ADAMS to verify the feasibility and rationality of the wheeled-legged robot design. Combining the advantages of wheeled and legged movements, the robot can freely change configurations according to the external environment. This design significantly enhances the robot’s mobility and flexibility in complex environments.

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Design and Simulation of Wheeled-Legged Robot with Variable Configurations

  • 会议论文

  • 发表日期：

    2025年

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  • Lunfei Liang,
  • Chuanxin Ning,
  • Bin Lan,
  • Peng Kang,
  • Xiaojuan Mo,
  • Yu Liu,
  • Houde Liu

摘要

As the increasing demands of mobile robots in emergency, disaster relief and military fields, mobile robots is expected to flexiblely and accurately adapt to unstructural terrains and accurately reach desired destinations. A variable configuration wheeled-legged robot is proposed and designed, in which all joints of the wheeled-legged robot is designed as offset structures to ensure the all joints rotation range is around 360° and the leg configuration can adjust based on the ground situation. An omnidirectional three-degree-of-freedom leg and an embedded drive wheel were designed for the robot, and then its kinematics were modeled to obtain the performance parameters of the joint module. Corresponding drive control software system and hardware system are designed for the robot. Finally, the motion simulation of the robot was carried out in ADAMS to verify the feasibility and rationality of the wheeled-legged robot design. Combining the advantages of wheeled and legged movements, the robot can freely change configurations according to the external environment. This design significantly enhances the robot’s mobility and flexibility in complex environments.