The optimization of obstacle-crossing and the simulation in ADAMS of the composite six-wheeled-legged robot

This paper establishes the spatial kinematic model of the composite six-wheeled-legged robot according to its spatial motion, and simplifies the special motion postures so as to do the motion planning [1]. Furthermore, taking the slope obstacle as a typical example, it makes the analysis for the postures in the process of crossing the obstacle and optimizes the key postures in order to improve its obstacle negotiation capability to the safest and steadiest level. Then the analysis and optimization are verified by the simulation of the robot´s obstacle-crossing motion for the vertical obstacle, the ditch obstacle and the slope obstacle.