仿螃蟹步行机构及其通过性试验

发布时间：2018-06-03 00:23

  本文选题：仿生 + 机构　； 参考：《农业工程学报》2016年14期

【摘要】：仿生步行机构的研究对于复杂地形的行走机构开发具有十分重要的意义。为了设计出性能优越、结构简单的仿生步行机构,通过分析中华绒螯蟹的行走步态,提出了仿螃蟹步行机构的设计方案。由于螃蟹尾端的两只步足较少参与行走,为简化设计,将步行机构设计成6足式,腿部运动由六连杆机构实现。利用三维建模软件CATIA建立了步行机构整体模型,并在ADAMS中完成了运动学分析,得到步行机构足端运动轨迹,结果表明该步行机构能够完成预期的动作。根据设计加工出样机,在非常规地面上与轮式模型车进行通过性对比试验,结果表明仿螃蟹步行机构在农业生产所涉及的松软地面上具有较高的通过性能,在崎岖硬地面上波动比轮式模型车降低5%~75%。该步行机构还可作为试验平台,通过对其腿部杆件尺寸和足端触地方式的优化,为开展提高步行机构在不同地面通过性提供基础研究设备条件。
[Abstract]:The study of bionic walking mechanism is very important for the development of walking mechanism in complex terrain. In order to design a bionic walking mechanism with superior performance and simple structure, the design scheme of the walking mechanism of Chinese mitten crab was put forward by analyzing the walking gait of Eriocheir sinensis (Eriocheir sinensis). In order to simplify the design, the walking mechanism is designed to be 6-legged, and the leg motion is realized by the six-bar mechanism. The global model of walking mechanism is established by using 3D modeling software CATIA, and the kinematics analysis is completed in ADAMS, and the track of walking mechanism foot is obtained. The result shows that the walking mechanism can accomplish the desired motion. According to the design and processing of the prototype, a comparison test was carried out with the wheeled model car on the unconventional ground. The results show that the walking mechanism of the imitation crab has a high pass performance on the soft ground involved in agricultural production. The fluctuation on the rough hard ground is 5 / 75 lower than that of the wheeled model car. The walking mechanism can also be used as a test platform to provide basic research equipment for improving the transmissivity of walking mechanism on different ground by optimizing the size of leg member and the foot touching mode.
【作者单位】： 吉林大学工程仿生教育部重点试验室;装甲兵技术学院基础部;华东交通大学机电工程学院;
【基金】：国家自然科学基金资助项目(51375199)
【分类号】：TH112
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本文编号：1970742