Design and Analysis of A Fully Flexible Wheeled Robot

Wheeled robot has the advantages of strong capacity, fast walking speed and high work efficiency. This paper presents a fully flexible wheeled mobile robot based on waterbomb structure, which has deformable wheels and a collapsible body. On this basis, the mathematical model of wheel and body is established. Moreover, kinematics simulation of the robot is carried out by ADAMS, and the rationality of structure design and the validity of mathematical model are verified. Finally, the prototype of the robot is made and the basic performance of the robot is tested.