【摘要】 为提高机器人通过复杂环境的能力，设计了一款新型轮腿机器人。首先对机器人整机进行了构型设计和运动模式分析；然后对其腿部机构进行了运动学分析，并针对常见障碍地形进行了机器人越障性能分析；最后进行虚拟样机仿真，仿真结果验证了机器人具有较强的越障能力。更多还原

【Abstract】 In order to improve the ability of the robot to pass through complex environments, a new wheel-legged robot is designed. Firstly, the configuration design and motion mode of the robot are analyzed, then the kinematics of the leg mechanism are analyzed, and the obstacle crossing performance of the robotic is analyzed for the common obstacle terrain. Finally, the virtual prototype simulation is carried out, and the simulation results verify that the robot has a strong obstacle crossing ability.更多还原