Stiffness optimization design of wheeled-legged rover integrating active and passive compliance capabilities

Compliance capability is one of the most important properties of suspension systems for roughterrain robots. This imposes specific requirements on system stiffness design, which directly determines the platform's performance in response to external stimuli. To address the challenge of stiffness optimization design in active and passive compliant systems, this paper proposes a novel and practical method for optimizing stiffness for a terrain-adaptive wheel-legged rover. Firstly, the kinematic model of this multi-degree-of-freedom platform is established. Secondly, the deformation capability coefficient, load capacity coefficient, energy efficiency coefficient, and dynamic stability coefficient are derived as performance indices to assess the behavior of the system. By establishing the relationship between joint configuration variation and system stiffness, stiffness parameters could be evaluated through these performance indices. Ultimately, the global optimum stiffness parameters are selected from the refined intersection of the individual performance optimal domains. Thirdly, the optimum parameters are calculated and applicability verified numerically. The designed parameters are verified experimentally on a wheeled-legged rover. The experimental results demonstrate that the proposed algorithm can find the parameter combination that achieves optimal system performance, thereby enhancing the system's terrain adaptability.