英文摘要 ABSTRACT Autonomous robots have received much attention in recent years due to their broad applications in space exploration,military reconnaissance,farming,defense,demining, etc.in unstructured environments.These high-performance autonomous robots can be classified into walking,wheeled,crawling and hybrid locomotion.Where,wheel-legged robots are considered to be the most promising hybrid mobility system,which inherit both advantages of wheeled and walking systems,i.e.the high-speed and efficient rolling performance for the first one and the obstacle overcoming performance to rough terrains for the second.However,for most of the existing wheel-legged robots,their driving motors were added to the joints directly,caused a large load concentration at joints,many of them have deficiencies in load distribution,structure stability and carrying capacity. In view of the above deficiencies,this paper presents a new type of wheel legged robot:Rolling-Wolf,which with a simple wheel-leg structure,strong carrying capacity and excellent performance of overcoming obstacles.The knee and hip joint of this robot are driven by ball screws that fixed on the thigh and body,respectively,instead of using motors and reducers at joints generally.Through this way,the stress condition of Rolling-Wolf is improved,the carrying capacity of the system and the stability of the wheel-leg mechanism are enhanced. Focused on the designed Rolling-Wolf Robot,a series of researches are carried out as follows: O The structure principles,kinematics and mechanical properties of the designed wheel-legged robot were analyzed in detail.Firstly,this paper presented a new kind of wheel-leg mechanism which is designed according to the mobile robots design requirements and the deficiencies of the existing wheel-legged robots.Second,the different mechanical properties between Rolling-Wolf and the ordinary articulated wheel-leg-robots were analyzed.Mechanical analysis results showed that Rolling-Wolf has better load distribution,structure stability and carrying capacity.Then,three types of Rolling-Wolfs with different structures were introduced,as well as the kinematics model of Rolling-Wolf was built.Based on the kinematics model,the envelope diagram of leg motion of these three different Rolling-Wolfs were solved and plotted in Matlab. Ⅲ英文摘要 III ABSTRACT Autonomous robots have received much attention in recent years due to their broad applications in space exploration, military reconnaissance, farming, defense, demining, etc. in unstructured environments. These high-performance autonomous robots can be classified into walking, wheeled, crawling and hybrid locomotion. Where, wheel-legged robots are considered to be the most promising hybrid mobility system, which inherit both advantages of wheeled and walking systems, i.e. the high-speed and efficient rolling performance for the first one and the obstacle overcoming performance to rough terrains for the second. However, for most of the existing wheel-legged robots, their driving motors were added to the joints directly, caused a large load concentration at joints, many of them have deficiencies in load distribution, structure stability and carrying capacity. In view of the above deficiencies, this paper presents a new type of wheel legged robot: Rolling-Wolf, which with a simple wheel-leg structure, strong carrying capacity and excellent performance of overcoming obstacles. The knee and hip joint of this robot are driven by ball screws that fixed on the thigh and body, respectively, instead of using motors and reducers at joints generally. Through this way, the stress condition of Rolling-Wolf is improved, the carrying capacity of the system and the stability of the wheel-leg mechanism are enhanced. Focused on the designed Rolling-Wolf Robot, a series of researches are carried out as follows:  The structure principles, kinematics and mechanical properties of the designed wheel-legged robot were analyzed in detail. Firstly, this paper presented a new kind of wheel-leg mechanism which is designed according to the mobile robots design requirements and the deficiencies of the existing wheel-legged robots. Second, the different mechanical properties between Rolling-Wolf and the ordinary articulated wheel-leg-robots were analyzed. Mechanical analysis results showed that Rolling-Wolf has better load distribution, structure stability and carrying capacity. Then, three types of Rolling-Wolfs with different structures were introduced, as well as the kinematics model of Rolling-Wolf was built. Based on the kinematics model, the envelope diagram of leg motion of these three different Rolling-Wolfs were solved and plotted in Matlab