Design and construction of a wheel-leg robot and testing the robot for different motion scenarios

This paper examines different test scenarios for a constructed WRLIUST robot. This robot is consisted of 4 wheels and 4 single-link legs. At first, the mechanical design and construction of the robot is argued, then the electronics and robot circuits are described. To build a wheel-leg robot, a detailed design that meets all the desired requirements, is needed. After design, appropriate mechanical and electrical components are specified and along, the communication of the specified equipment is investigated. In order to determine the most appropriate configuration for the robot, different scenarios were planned and tested. Since the robot has height changes, high torque is needed in leg joints. For this reason, motors with high torques should be utilized. To perform these tests, the cinematic results are achieved from gyroscope and dynamic results from motor torques, and by comparing the torques, the best motion for robot is determined so that the robot withstands the least amount of torque and act more perfectly in the best position.