Optimization Design and Research on the Isolation Structure of Wheel-Leg Composite Robot

In order to improve the comprehensive vibration reduction performance of the wheel-leg composite robot vibration reduction system and improve the smoothness of its operation, a new type of integrated leg structure wheel-leg composite robot was designed. Dynamic models of parallel and series vibration reduction systems containing two vibration isolation devices were established, and a simulink simulation model was established with road excitation as input. The changes in the vertical acceleration of the robot center of mass, the dynamic deflection of the robot system, and the dynamic load index of the rubber at the bottom of the robot between the two vibration isolation systems and the original vibration isolation system were investigated. The results showed that compared to the original vibration isolation system, The series vibration isolation system can enhance the comprehensive isolation system, verifying the rationality of the design of the isolation system for this wheel-leg composite robot.