基于异形Stewart平台的电动并联式六轮足机器人

Aiming at the weak bearing capacity, the weak adaptability to complex environments and the slow running speed of the foot-type robots, a parallel-structured electric six-wheeled robot based on special-shaped Stewart platform is proposed. It integrates the advantages of wheeled motion and foot motion, and it can realize foot, wheel and wheel-foot composite motion. First, Mechanical structure and control system are designed. Then, in order to achieve stable walking in complex environment, the foot-algorithm using a stable walking algorithm named three-legged "diagonal gait", "bipedal gait" and "single-foot gait" is approved, which achieves stable and uniform walking of the robot. The algorithm which can adjust the duty cycle of the "vacuum term" and the "support term" is designed and it can overcome the obstacle to the robot's overall speed when the foots contact to the ground. Wheeled motion designed 6 rounds of coordinated control, which has 6-wheel independent drive, independent steering and other functions. The control principle of variable height, variable support surface, variable wheel-distance, foot-force distribution is realized in the wheel-foot compound motion mode. Throughout the experiment of the electric parallel six-wheeled robot with multiple motion modes, the results verify the superiority of the performance of the electric parallel six-wheeled robot and the effectiveness of the control algorithm.