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In order to achieve high mobility for country crossing and the ability of climbing vertical obsta- cles, a new locomotion mechanism that combines legs and wheels is proposed, and a prototype mobile robot that adopts the mechanism is introduced, actions for obstacle climbing is designed. Focused on forces and power requirements on leg-wheel mechanism in the process of obstacle climbing, calculated the maximum of output torque during motor drive legs rotation, established a model of unmanned ground vehicle through the multibody dynamics modeling software ADAMS, simulated and analyzed the process of obstacle climbing. Result show that the proposed structure meet the demand of 220mm high platform climbing with the maximum rotating torque 4.99N·m. KEYWORD: unmanned ground vehicle, obstacle climbing, leg-wheel structure.

Unmanned Leg-Wheel Vehicle Design and of Vertical Step Passability Performance Analysis