重庆大学硕士学位论文 And finally,a wheel-legged structure which has the best motion characteristics is selected,and Rolling-Wolfs 3D model was built in detail. 2 The motion performance and structure optimization of Rolling-Wolf were analyzed and calculated.In the third chapter,the positional posture model of Rolling-Wolf was analyzed first,and then it's static model was built based on the kinematic theory and the principle of virtual works.Thirdly,several kinematic and mechanic evaluation indexes of Rolling-Wolf were defined according to these two models.Finally,the multi-objective optimization problem of this new locomotion was solved numerically by the method of AMGA (Archive based Micro Genetic Algorithm) based on Isight and Matlab,the optimization targets were to minimize the maximum static equilibrium forces of the driving sliders under certain load conditions and to improve the motion characteristics described by the evaluation indexes concurrently. Optimization results indicates that the mechanical properties and motion performance of Rolling-Wolf were significantly improved.The maximum obstacle clearance of the optimized value is about 500 mm,improved 65.53%,and the optimized maximum static force compared to the previous value is decreased by 25.5%and 12.58%,respectively, under the work load conditions of self-weight 40 kg and 30 kg. 3 The dynamic model of Rolling-Wolf was deduced and built based on Lagrange method,and the dynamic performance of Rolling-Wolf was simulated by ADAMS software.From the simulation results of the posture configuration of Rolling-Wolf implemented under certain load conditions,the value of the driving forces and power of the drive systems were obtained.The dynamic simulation results of the damping system of Rolling-Wolf,rolling on unstructured terrains,showed that the design of the damping system can effectively reduce the impacts of the drive system and the vibrations of the body.This simulation results provided valuable references for the design of damping systems of Rolling-Wolf and other wheel-legged robots. For the requirements of high stability and fast response of the control system of wheel-legged robots,this paper designed a distributed multi-level control system based on the MCU of STM32F103 series.This system uses a multi-threaded task scheduler to decentralize the complicated control tasks of multi-DOF robot,successfully simplified the complexity of the control system and improved its reliability and maintainability. Test results showed that:the control system designed is stable and fast,satisfied to the design specifications.重庆大学硕士学位论文 IV And finally, a wheel-legged structure which has the best motion characteristics is selected, and Rolling-Wolf's 3D model was built in detail.  The motion performance and structure optimization of Rolling-Wolf were analyzed and calculated. In the third chapter, the positional posture model of Rolling-Wolf was analyzed first, and then it's static model was built based on the kinematic theory and the principle of virtual works. Thirdly, several kinematic and mechanic evaluation indexes of Rolling-Wolf were defined according to these two models. Finally, the multi-objective optimization problem of this new locomotion was solved numerically by the method of AMGA (Archive based Micro Genetic Algorithm) based on Isight and Matlab, the optimization targets were to minimize the maximum static equilibrium forces of the driving sliders under certain load conditions and to improve the motion characteristics described by the evaluation indexes concurrently. Optimization results indicates that the mechanical properties and motion performance of Rolling-Wolf were significantly improved. The maximum obstacle clearance of the optimized value is about 500 mm, improved 65.53%, and the optimized maximum static force compared to the previous value is decreased by 25.5% and 12.58%, respectively, under the work load conditions of self-weight 40 kg and 30 kg.  The dynamic model of Rolling-Wolf was deduced and built based on Lagrange method, and the dynamic performance of Rolling-Wolf was simulated by ADAMS software. From the simulation results of the posture configuration of Rolling-Wolf implemented under certain load conditions, the value of the driving forces and power of the drive systems were obtained. The dynamic simulation results of the damping system of Rolling-Wolf, rolling on unstructured terrains, showed that the design of the damping system can effectively reduce the impacts of the drive system and the vibrations of the body. This simulation results provided valuable references for the design of damping systems of Rolling-Wolf and other wheel-legged robots.  For the requirements of high stability and fast response of the control system of wheel-legged robots, this paper designed a distributed multi-level control system based on the MCU of STM32F103 series. This system uses a multi-threaded task scheduler to decentralize the complicated control tasks of multi-DOF robot, successfully simplified the complexity of the control system and improved its reliability and maintainability. Test results showed that: the control system designed is stable and fast, satisfied to the design specifications