Optimized design and performance analysis of a centipede-like wheel-legged mobile robot

Abstract

In order to improve the passability and motion flexibility of a mobile robot under unstructured terrain, a multi-drive module articulated mobile robot that can passively adapt to complex and variable obstacle terrains is developed by combining passive deformation wheels and flexible articulation devices, and the passive deformation wheels are optimised. Based on the study of the mechanism of passive deformation of wheels, a mechanical model of robot obstacle crossing is established, and the passability of the robot under different terrains is analysed. The experimental results under different terrains show that the robot has reasonable structural design, good obstacle-crossing performance and motion flexibility, and can passively adapt to complex and variable obstacle terrains.