Structural design and performance analysis for a novel wheel-legged rescue robot

Wheel-legged rescue robot can replace rescue workers to carry out on-site search and rescue, and it can adapt to the complex environment. So it has broad application prospects. In order to improve the rigidity and carrying capacity of the robot, and reduce the control difficulty, a novel wheel-legged rescue robot is designed in this paper, which includes four-bar wheel-legged structure, auxiliary leg structure and other auxiliary structures. Then the kinematics and mechanical property are analyzed. On this basis, the motion mode of the rescue robot is analyzed, which includes the wheel state, movement process from wheel state to leg state and leg state. The different motion states can make the robot achieve flexible movement in the complex environment. Then the experiment is conducted to prove the validity of the design. This study provides a new idea for the design of the rescue robot.