摘要
本文对两栖式清淤机的仿海龟爬行的行走机构进行了运动分折及动力分析.通过运动分析,得知控制支腿的转角(?),可在很小车轮位移时获得较大的机身位移.这有利于清淤机在地面情况不佳的场合行驶.通过动力分析建立了机构起升及爬行过程中运动微分方程,及各自的力学条件,便于进一步研究机构的动力性能及运行工况.
In this paper the kinematic and dynamic problems on the step-by-step walking mechanism used in the amphibious silt-cleaner has been analyzed.
Provided controlling the turn angle ψ of leg, a less displacement of the wheel will cause a larger displacement of the cleaner. It helps the cleaner to walk on the bad surface of earth. By establishing the Kinematic and dynamic equation of walking mechanism in lift and creep process and the corretponding static equation, it favors to research still further into the dynamic and static characteristics of this mechanism under different working conditions.
出处
《上海第二工业大学学报》
1992年第2期61-69,共9页
Journal of Shanghai Polytechnic University
关键词
两栖式
清淤机
步进式
行走机构
amphibious silt-cleaner step-by-step walking mechanism kinematic and dynamic analysis
