Design and research on mechanism of walking-leg all-terrain robot mobile platform

All-terrain mobile robots are widely used in industry, agriculture, medical services, especially in non-structural environments that are not easy for humans to access, such as military battlefields, earthquake rescue, and nuclear power leaks
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. Therefore, the demand for mobile robot technology is very urgent. In order to solve the problem of poor maneuverability of the current all-terrain mobile platform, based on the analysis and research of relevant domestic and foreign research status, a track-leg composite mobile platform was designed, and mechanical analysis and motion simulation optimization were carried out. The platform Walk The gait is analyzed, which can realize strong adaptive ability of complex terrain. It has the characteristics of both legged and crawler mobile robots, and at the same time has the advantages of high maneuverability and high sensitivity of legged movement and high obstacle crossing performance of crawler movement. Leg movement and crawler movement can be converted at any time.