【摘要】 针对串联机构式轮腿机器人刚度较低的问题，提出了一种具有较高刚度的宿主-寄生式轮腿机器人。从宿主-寄生机构演变规律出发，通过逐步在宿主机器人上添加寄生支链，演变成5种寄生机构式样机。在机器人工作空间内，选择4个极限位姿开展刚度实验，分析机器人动平台刚度的变化规律。研究表明，随着样机A逐步引入寄生支链演变为样机E,其在位姿P₁、P₂、P₃和P₄下各方向的刚度均获得显著提升。特别是在主要承重y方向上，样机E相较于样机A实现了刚度的大幅增强，4个位姿的刚度分别提升了782.63%、2 315.24%、2 061.74%和1 782.53%。该研究成果可为轮腿机器人的优化设计提供参考。更多还原

【Abstract】 A host-parasitic wheel-legged robot with high stiffness is proposed to address the low stiffness of the tandem mechanism-type wheel-legged robot with low stiffness. First, based on the host-parasitic mechanism evolution law, five parasitic mechanism-type prototypes are evolved by continuously adding parasitic struts to the host robot. Then, four extreme limit postures are selected to conduct the stiffness experiments in the robot workspace. Finally, the parasitic evolution law of the robot’s stiffness in the moving platform is analyzed through the experiments. With the introduction of parasitic branches, Prototype A gradually evolves into Prototype E, the stiffness in all directions under the postures P₁、P₂、P₃ and P₄ has been significantly enhanced. Especially in the y direction, which is the main load-bearing direction, Prototype E has achieved a substantial increase in stiffness compared with Prototype A. The stiffness in the four postures has been improved by 782.63%, 2 315.24%, 2 061.74%, and 1 782.53% respectively. This research provides important theoretical basis and experimental data support for the optimized design of wheel-leg robots.更多还原