具有仿生关节结构的多路况自适应履臂复合驱动式机器人设计分析

onsidering the moving requests of the miniature mobile robot under the structured and non-structured environment, combining the advantages of wheeled mobile robot, tracked mobile robot and wheeled-legged mobile robot, a miniature track-wheel-legged mobile robot with bionic joint structure is successfully developed. The moving characters, the wheeled, tracked and multiple moving modes, are specially satisfied with various structure environment aided by the bionic joint. The structural parameters, moving performance and configuration are analyzed in details. The embedded control system is adopted to ensure the robot to be with good reliable and high real-time character. The testing experiment results are in agreement with the design target.