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在松软地面上,仿生步行机械的越野性能显著优于常规人工车辆,本文纵观了目前国内外对步行机械的研究状况,结合我国水田行走机械——机耕船驱动叶轮存在滚动阻力大、效率低的问题,提出了一种新的水田非常规行走机构——步行机耕船。并对它作了运动学和动力学分析,列出了牵引平衡和功率平衡方程式,由于它可保证叶片型脚完全地垂直入出土,预计动力性能将会有所改善。在其它性能指标方面亦作了广泛的分析比较。
On the soft ground, the bionic walking machinery has significantly better off-road performance than the conventional artificial vehicles. This paper reviews the current domestic and foreign research on the walking machinery, combined with the large rolling resistance and low efficiency The issue raised a new non-conventional walking mechanism paddy field - walking machine farming boat. Kinematic and kinematic analysis of the traction balance and power balance equations is also given. Since it can ensure that the blade foot is completely vertical and unearthed, the dynamic performance is expected to be improved. In other performance indicators also made a wide range of analysis and comparison.