Design and Motion Analysis of the Six-wheel-legged Mobile Robot

Abstract

Compared with traditional mobile robots, the wheel-legged mobile robot has outstanding environmental adaptability and obstacle-crossing performance, which has gradually become a research hotspot. This paper proposes a six-wheel-legged mobile robot consisting of six legs and six wheels, six driving motors and six steering motors for omnidirectional movement, double rocker mechanism and double parallel suspension mechanism give the robot a good ability to overcome obstacles and load capacity. The basic structure concept of the robot and motor selection of the robot are introduced. Also, analysis of the mobile robot is focused on its climbing movement and steering locomotion process. Theoretical analysis shows that the robot can overcome a 30° slope or steps, as well as good plane steering maneuverability.