An adaptive wheel-legged shape reconfigurable mobile robot, based on a scissor-like mechanism, is proposed for an obstacle detecting and surmounting robot, moving on complex terrain. The robot can dynamically adjust its own shape, according to the environment, realizing a transformation of wheel shape into leg shape and vice versa. Each wheel-legged mechanism has one degree of freedom, which means that only the relative motion of the inner and outer discs is needed to achieve the transformation of the shape into a wheel or a leg. First, the force analysis of the conversion process of the wheel-legged mechanism is carried out, while the relationship between the driving torque and the friction factor in the non-conversion trigger stage and in the conversion trigger stage is obtained. The results showed that the shape conversion can be better realized by increasing the friction factor of the trigger point. Next, the kinematics analysis of the robot, including climbing the obstacles, stairs and gully, is carried out. The motion of the spokes tip is obtained, in order to derive the folding ratio and the surmountable obstacle height of the wheel-legged mechanism. The parameters of the wheel-legged structure are optimized, to obtain better stability and obstacle climbing ability. Finally, a dynamic simulation model is established by ADAMS, to verify the obstacle climbing performance and gait rationality of the robot, in addition to a prototype experiment. The results showed that the surmountable obstacle height of the robot is about 3.05 times the spoke radius. The robot has the stability of a traditional wheel mechanism and the obstacle surmount performance of a leg mechanism, making it more suitable for field reconnaissance and exploration missions.

提出了一种基于剪式机构的自适应轮腿形状可重构移动机器人，用于复杂地形上的障碍物检测和超越机器人。机器人可以根据环境动态调整自己的形状，实现轮形到腿形的转换，反之亦然。每个轮腿机构都有一个自由度，即只需要内外圆盘的相对运动就可以实现形状向轮或腿的转变。首先对轮腿机构的转换过程进行了受力分析，同时得到了非转换触发阶段和转换触发阶段的驱动力矩与摩擦因数的关系。结果表明，增大触发点的摩擦系数可以更好地实现形状转换。接下来，对机器人进行运动学分析，包括攀爬障碍物、楼梯和沟壑。获得辐条尖端的运动，以推导出轮腿机构的折叠比和可越障高度。优化轮腿结构参数，获得更好的稳定性和越障能力。最后，通过ADAMS建立了动态​​仿真模型，验证了机器人的越障性能和步态合理性，并进行了原型实验。结果表明，机器人的可越障高度约为辐条半径的3.05倍。