Analysis of Buffer Landing Performance for a Bionic Wheel-Leg Based on Dual-Mass-Spring Model

In order to enhance the impact resistance of the wheel-legged robot, a bionic wheel-leg with a buffer mechanism is designed, and the trajectory planning method is adopted for buffering control. The bionic wheel-leg possesses three degrees of freedom: hip joint, knee joint, and wheeled foot. Based on the buffering requirements of the wheel-legged robot, the buffering method, installation location, and parameters of the buffer element are determined. This led to the design of a flexible buffer mechanism and the overall structure for the wheel-legged robot's leg. Dynamic modeling of the buffering motion is completed based on dual-mass-spring (DMS) model. For buffering control, the trajectory and acceleration of the lower mass are planned to mitigate the impact forces experienced during the single leg's landing phase. An ADAMS-Simulink co-simulation is established to validate the effectiveness of the control algorithm. Finally, a single-leg prototype is constructed and tested. Experimental results demonstrate that the trajectory planning-based control algorithm effectively achieves buffering.