摘要
为解决现行轮式车辆越障能力不足,无法适应各种复杂路面,以及无法跨过较高障碍的问题,研究出一种模仿昆虫行走方式,能够逾越较高障碍及适应各种复杂路面情况的四足行走机构。机构采用单电机四驱的模式,利用飞思卡尔的车身平台,独立设计并重点研究了不同腿型结构的越障高度及对不同地形的适应性。完成对轮腿设计与制造,对不同轮腿采取模拟实验方法,进行越障高度的测量及比较,同时完成在不同地形下各轮腿的实验与检测以及机构平台的选择。通过对所设计的不同轮腿的实验,得出六脚弯曲并加防滑套的结构设计最能够满足所需功能。
To solve the problem that cars cannot get over high obstacles and adapt the complex environment. A kind of machine which imitate the walking way of insects was developed. The machine is drove by one motor and can use four-wheel drives. Moving at a speed of 2-meters per second. After having finished the design, manufactured of the legs, tested the effect of all kinds of legs, tested and compared the height of obstacle, experimented the passing ability of different terrains, and have chosen the platform of the machine, we get the conclusion that the machine which uses six bent legs and has a robber surface can achieve all the requirements.
出处
《电子设计工程》
2011年第17期27-30,共4页
Electronic Design Engineering
关键词
轮腿
仿生
越障
地形适应性
实验模拟仿真
legs
bionics
get over obstacle
all terrain adaptability
experiment simulation
