Design, Analysis, and Experiment of a Wheel-Legged Mobile Robot

In this paper, a wheel-legged mobile robot is proposed. The parameter design of the wheel-leg structure is completed using geometric analysis and statics modeling. The curling mechanism is chosen as the main part of the robot, expanding the robot's application scenarios. Particle swarm optimization is used to determine the number of body sections and their length. After dynamic simulation, rubber is selected as the wheel-leg cover material. Based on the above results, a prototype is made and subject to experiments in different terrains. The experiment results verify that the robot is adaptable to multiple terrains with strong obstacle-crossing ability.