The Research And Design Of New Multi-foot Wheel Mechanism

In this thesis,a new multi-foot wheel walking mechanism is designed for the problem that the wheeled mechanism is difficult to travel in complex terrain such as mountains,hills and high-altitude vegetation coved area.At the same time,the existing walking mechanism has many shortcomings such as the complicated structure,difficult control and high cost.The new mechanism integrates the characteristics of common wheel speed,high transmission efficiency,low energy loss,simple control with the strong grip and the adaptability to various complex terrains of walking mechanism.This mechanism can realize wheel-foot combined traveling and can be applied in agriculture,military,exploration,rescue,transportation and other fields.In this thesis,the kinematics,dynamics,stability and gait planning of the new multi-footed walking mechanism are studied using the commonly used research methods of walking mechanism.The prototype is tested to verify the rationality and feasibility of the organization in the thesis.The main research content of the thesis is as follows.Firstly,according to the working principle,the multi-wheel mechanism is designed and its three-dimensional model is made in the thesis,which will construct the foundation of the follow-up research.Secondly,the statics theory model of multi-wheel mechanism is established,the main influencing factors of multi-wheel static force are analyzed,and the structural optimization scheme is determined in the thesis.Based on the finite element simulation analysis,the rationality of the structural force is verified to ensure that the multi-wheel mechanism can meet the requirements of motion.Thirdly,the theoretical model of multi-wheel kinematics is established to analyze the law of multi-wheel movement;the mathematical model between the center of gravity offset and the number of foot-rods is established to optimize the number of foot-rods and determine the structure of multi-wheel;the walking gait of multi-wheel is planned and the influencing factors of multi-wheel walking gait are analyzed;the kinematics simulation analysis is carried out to verify the correctness of the theoretical model,which constructs the foundation for dynamic test foundation.Fourthly,the dynamic simulation analysis of multi-legged wheels on-site walking is carried out to study the changing law of joint force under different moving speeds in the walking process;the torque demand of multi-legged wheels under different rotating speeds and the maximum load capacity under different ground conditions are analyzed also.Finally,the trial production and field test of the multi-legged wheel prototype were carried out to study the impact force of the foot pole and the maximum load capacity of the multi-legged wheel prototype under different ground conditions.The theoretical analysis,simulation analysis and experimental analysis are combined together to clarify the rationality and feasibility of the multi-heel wheel mechanism.