發(fā)布時(shí)間：2018-06-03 00:23

  本文選題：仿生 + 機(jī)構(gòu)��； 參考：《農(nóng)業(yè)工程學(xué)報(bào)》2016年14期

【摘要】：仿生步行機(jī)構(gòu)的研究對(duì)于復(fù)雜地形的行走機(jī)構(gòu)開(kāi)發(fā)具有十分重要的意義。為了設(shè)計(jì)出性能優(yōu)越、結(jié)構(gòu)簡(jiǎn)單的仿生步行機(jī)構(gòu),通過(guò)分析中華絨螯蟹的行走步態(tài),提出了仿螃蟹步行機(jī)構(gòu)的設(shè)計(jì)方案。由于螃蟹尾端的兩只步足較少參與行走,為簡(jiǎn)化設(shè)計(jì),將步行機(jī)構(gòu)設(shè)計(jì)成6足式,腿部運(yùn)動(dòng)由六連桿機(jī)構(gòu)實(shí)現(xiàn)。利用三維建模軟件CATIA建立了步行機(jī)構(gòu)整體模型,并在ADAMS中完成了運(yùn)動(dòng)學(xué)分析,得到步行機(jī)構(gòu)足端運(yùn)動(dòng)軌跡,結(jié)果表明該步行機(jī)構(gòu)能夠完成預(yù)期的動(dòng)作。根據(jù)設(shè)計(jì)加工出樣機(jī),在非常規(guī)地面上與輪式模型車進(jìn)行通過(guò)性對(duì)比試驗(yàn),結(jié)果表明仿螃蟹步行機(jī)構(gòu)在農(nóng)業(yè)生產(chǎn)所涉及的松軟地面上具有較高的通過(guò)性能,在崎嶇硬地面上波動(dòng)比輪式模型車降低5%~75%。該步行機(jī)構(gòu)還可作為試驗(yàn)平臺(tái),通過(guò)對(duì)其腿部桿件尺寸和足端觸地方式的優(yōu)化,為開(kāi)展提高步行機(jī)構(gòu)在不同地面通過(guò)性提供基礎(chǔ)研究設(shè)備條件。
[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.
【作者單位】： 吉林大學(xué)工程仿生教育部重點(diǎn)試驗(yàn)室;裝甲兵技術(shù)學(xué)院基礎(chǔ)部;華東交通大學(xué)機(jī)電工程學(xué)院;
【基金】：國(guó)家自然科學(xué)基金資助項(xiàng)目(51375199)
【分類號(hào)】：TH112
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本文編號(hào)：1970742