新型软地面气垫靴式步行车的行走机构设计研究  

Study of Walking Mechanism Design for A Novel Soft-terrain Vehicle with Air-cushion Boots

作　　者：曹阳[1] 马聪[1] 罗建南[1] 刘庆伟[1] 喻凡[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《传动技术》2012年第4期12-16,20,共6页Drive System Technique

基　　金：国家自然科学基金(50675135)

摘　　要：针对软地面恶劣复杂环境下车辆通过性差的问题,本文对一种新型的气垫靴式步行车的行走机构,进行方案设计;对该步行车的工作原理及行走机构其特点进行了描述,并对一些典型的行驶工况进行了行走机构步态规划。最后,对该气垫靴式步行车的驱动行走机构进行了方案设计和分析。In order to investigate the problem of vehicle cross-over capability in some complex soft-terrain environment, a concept soft terrain vehicle with a walking mechanism by using six air-cushion-boots and a scheme of the walking mechanism is designed in this paper. First the working principal of the vehicle and the characteristics of the walking mechanism are described. Then the gait of the walking vehicle is planned, and the performances are analyzed in some typical operation conditions. Finally, the scheme of the walking mechanism is designed and investigated.

关 键 词：软路面 气垫靴式步行车 步态规划 行走驱动机构 

分 类 号：U463.212[机械工程—车辆工程]