A novel linkage-jointed wheel-legged mobile robot is proposed by applying the parallelogram mechanism. Three gaits, i.e. crawling gait, diagonal gait and rolling gait, of this robot are proposed. The generation principle and kinematics characteristics of three gaits are analyzed by using some concepts and methods of legged robot. The height of the center of gravity, stride lengths, duty factors and stability margins of the robot in the three gaits are studied. Simulation experiments in the flat and ditch are carried out with ADAMS software. The simulation results demonstrate the advantages in stability, environment adaptability and walking velocity of the novel robot and prove the feasibility and validity of these three gaits.
WANG Yandong
,
TANG Zhao
,
DAI Jiansheng
. Kinematics and Gait Analysis of a Linkage-jointed Wheel-legged Robot[J]. Journal of Mechanical Engineering, 2018
, 54(7)
: 11
-19
.
DOI: 10.3901/JME.2018.07.011
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