摘要
根据仿生学理论,以六足行走昆虫为原型,采用双关节的步行机构,实现六足步行机器平稳地前进,以及根据两侧步伐大小的差异实现转向。步行机构是由曲柄连杆机构组成大腿,由静液压实现小腿迈步和转向。实现转向的液压系统由单向阀、常开电磁阀控制。静液压六足步行机器行动可靠,可以重负载,不会像轮式拖拉机那样出现打滑现象,是可以应用于南方水田的农机具。
Based on the bionics theory, a hexapod walking machine is designed and made. Based upon the hexapod insect, its double-joint walking part is able to let the machine move forward steadily. The turning function is realized by the differential steps on two sides. In the walking part, crank pitman mechanism buildup the legs, while the hydrostatic driving makes the calves stride forward and swerve. The hydrostatic system is controlled by the unilateral valves and electromagnetic valves. The hydrostatic hexapod walking machine can walk steadily and load heavily. It is expected to use on the farming machines on paddy field in South China.
出处
《农机化研究》
北大核心
2006年第10期116-117,121,共3页
Journal of Agricultural Mechanization Research
关键词
农业工程
六足步行机器
设计
水田
仿生学
静液压
agricultural engineering
hexapod walking machine
design
paddy field
bionics
hydrostatic
