The Simulation and Analysis of a New Rescue Robot with Transformable Wheels

Abstract

Aiming at the complex terrains in the working scenes for rescue robots, this paper presents the design of a rescue robot with two switchable modes between wheels and legs. Firstly, according to the research on the relationship between the number of spokes and the motion performance of the wheel, a kind of transformable wheel is designed according to the principle of planar four-link linkage. Secondly, the size of the wheel is determined by studying the internal relation among the structural parameters of the wheel. Finally, the virtual simulation of the robot model is established to study the process of movement mode switching and obstacle passing as well as the movement situation under different gaits, which provides theoretical basis for the control of the robot.