新型两足气垫靴式行走机构设计  

Study of Design for A Novel Bipedal Walking Mechanism With Two Air-cushion Boots

作　　者：束银辉 刘庆伟[1] 罗哲[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：《机械设计与研究》2015年第5期9-12,共4页Machine Design And Research

基　　金：国家自然科学基金资助项目(51375298)

摘　　要：常规车辆在湿软路面复杂环境下会面临稳定性和通过性差的问题。针对湿软路面的作业环境特点,结合非常规车辆和移动机器人技术,文中提出了一种新型两足气垫靴式行走机构设计方案。首先讨论了该行走机构的方案设计并阐述了其行走原理,然后对该机构的运动学进行了分析,并对分析结果进行了虚拟样机仿真。仿真结果初步验证了所提方案的合理性和可行性。Conventional vehicles exhibit poor stability and cross-over capability in some complex soft-terrain environment. Considering the severe working environment characteristics of soft-terrain, a novel bipedal walking mechanism with two air-cushion boots is designed by combining the advantages of some non-conventional vehicles and mobile robots. First, the designed scheme and the walking principle of the bipedal walking mechanism are described. Then the kinematics analysis of the mechanism is carried out, and virtual prototype simulations are performed and the results are analyzed. The simulation results show the proposed scheme is feasibility.

关 键 词：湿软路面 两足行走机构 气垫靴 非常规车辆 

分 类 号：U273[机械工程—车辆工程]