Design and Performance Analysis of a Modular Transporter Based on Reconfigurable Wheel-Legged Corner Module

Performing transportation and exploration tasks on rugged terrain requires both high load-bearing capacity and large suspension stroke. However, the corner module configurations applied to challenging terrain have rarely been explored. This article proposes an integrated framework that combines bionic principles with topology graph–based type synthesis. This framework leads to the creation of a reconfigurable wheel-legged mechanism capable of switching between wheeled locomotion and legged gait modes, which is then implemented as a corner module system. First, inspired by the skeletal–muscular system of the equine leg, a structure–function mapping relationship between the biological system and the mechanical system is established. Second, a multi-loop closed-chain mechanism with biomimetic morphology is represented in the form of graph theory. A configuration atlas of the wheel-legged hybrid mechanism is generated based on the contracted graph and open-loop kinematic chains, and configuration optimization is carried out. Third, on the basis of the optimized configuration, a biomimetic vibration isolation system is integrated. Finally, a corner module system that integrates the reconfigurable wheel-legged mechanism with steering, hub motor is designed, as well as the mechanical structure of modular transporters based on the aforementioned corner modular architecture. The vibration reduction performance and various locomotion modes of the modular transporter are verified by multibody dynamic simulation.