Research on Kinematic for the Mechanism of Wheel-Leg Mobile Robot with Multi-Sports Mode

Based on the walking mechanism and the researching method for the serial-parallel mechanism, one multi-sports mode wheel-leg mobile robot is proposed in this paper; Firstly, the serial mechanism model of one leg is constructed, and the method for constructing the kinematic model of the single leg mechanism is studied; Secondly, based on the study of the single leg mechanism, the kinematic model of the parallel mechanism of the multi-sports mode wheel-leg robot is further constructed when the robot is in the support state; Finally, based on the methods and theories discussed above, the experimental prototype mobile robot is constructed, so feasibility of the proposed method is verified.