Research On A Dual Quadruped Differential-Driven Legged-Vehicle

Compared with other kinds of vehicle, walking vehicle has strengths in mobility and adaptability to terrain, but due to the complicated control system caused by a large number of DOF, its reliability and load capability in terrain could be limited. SDOF leg mechanism has simpler control system, so it has stronger reliability and anti-jam capabilities. Besides, we can easily improve its load capability by improve the motor power, and improve obstacle performance by optimizing the linkage length.According to the research on SDOF leg mechanisms, this paper does a study on the existing6-bar leg mechanism and8-bar leg mechanism by Yan’s creative mechanism design methodology. By doing this, we find more than10kinds of new SDOF leg mechanisms. Then, The paper makes optimization study on one of these leg mechanisms.The paper proposes a dual quadruped differential-driven legged-vehicle, on which a mature leg mechanism is used. The whole vehicle has2freedom degrees, which need two motors to walk and turn. This article discusses the overall layout and corresponding performance, and proposes a common methodology for configuring vehicles with those legs. Under some preconditions for differential steering, kinematics analysis on differential steering is carried out, and correctness is verified by simulation, providing a basis for control strategy.In the dynamic simulation, the impact on driving torque is found, which is redeuced by spring buffer and trace optimizing. This article also summarizes a common methodology and some indexes for spring configuration, by which6-bar leg mechanism and8-bar leg mechanism is analysed.From the engineering perspective, this article does the rod layer design which make a planar mechanism to a three-dimension model, designs the parts’structure, checks parts’strength. In the strength check, every part meet the requirements, and optimum design of structure are carried on strength surplus parts. Physical prototype is made and the preliminary experiment is carried out, after which the follow-up experiment is designed.