Planning research on leg movement of a wheel terrain vehicle

A type of wheel-leg movement structure is designed, and this structure integrate the advantages of the wheeled robot and legged robots, they are able to adapt to the ground of complicated cases. This paper analyze the structure of the single leg, calculating under different condition of freedom gait analysis of basic research, establishing the kinematic model of the foot and joint movement system when the legs are walking , the trajectory of the leg is studied by planning and tracking, and giving the experimental simulation results. Compared with a single wheeled robot, the trajectory planning of the leg and foot end can make the car body continuously and effectively pass some uneven roads. Compared with the expansion and contraction of a given hydraulic cylinder, it is inversely solved by a given foot end displacement curve. The change in the expansion and contraction of the hydraulic cylinder can better adapt to the requirements of different grounds. Therefore, a proper foot-end trajectory plan is carried out for the leg, and the result data is analyzed.