Research On Dual Quadruped Small-sized Electric Transportation Vehicle

At present, the electric cars are becoming increasingly popular with the formation and expansion of the cars market. The electric cars mostly have one or two wheels, and most of them are operated by somatosensory control. The legged vehicle is based on the platform of walking mechanism. As a mobility scooter, the multi-legged walking vehicle is superior to wheeled vehicle on safety, carrying capacity and terrain adaptability. Moreover, its operating modes, the wire control and remote control, are simpler operation than somatosensory control, also it is more widely used. As the leg of walking mechanism, the single-DoF closed chain leg mechanism is better than the opened chain leg mechanism with Multi-DoF in the same requirement of control, stability and rigidity.Based on the sufficiently investigation and theoretical research of exiting leg mechanisms, this paper proposed a series of mechanical constructions constructed by six-bar leg mechanism or eight-bar leg mechanism with a slide joint. Based on the theory of six-bar leg mechanisms, the leg has been modeled. After the kinematic analysis of the close-chain leg mechanism, the optimization of foot trajectory and links’ parameters have been done. This type of small-sized omnidirectional mobile vehicle is able to negotiate obstacles. What’s more, it can walk smoothly, so the ride comfort of the car is improved.According to the3D modeling design, modeling and simulation analysis has been done by using virtual prototype technology. Analysis about the ability of going straight, steering on the routine road and going across general obstacle have been done. Meanwhile, the maneuverability of the walking machine has been tested by using this technology. Also, the simulation proved the feasibility of all the processes.In this study, based on the simulation results and the design parameters, the structure of this dual quadruped small-sized electric vehicle has been designed, the crucial parts and materials of the mechanism have been selected, parts processing and assembly work have been accomplished according to the design standards, and we finished the sample testing.