步行船式车辆行走稳定性的比较研究

A Comparative Study on Running Stability of Walking Boat Vehicle

为研究适用于沿海松软滩涂牧草地面上作业机器的行走机构，达到既不缠草又能利用草根推进的目的，提出了步行船式车辆行走机构。该文对六腿两相位、八腿两相位和十二腿四相位步行船式车辆的质心高度的跳动、前进速度的波动、行走方向的摆动以及步行船式车辆左右摇动进行比较分析，讨论了步行船式车辆的结构及土壤条件对步行船式车辆行走性能的影响及其改善途径。

A specific walking mechanism for boat vehicles is designed to improve the walking ability of machines working on soft land of forage grass in coastal areas making use of grass roots to produce thrust rather than being wound by them. The mass center height, forward velocity, running direction and vehicle transversal stability of a six leg two phase, an eight leg two phase and a twelve leg four phase walking boat vehicles were compared and analyzed in this paper. Influences of the structure of these walking boat vehicles and soil conditions on their running performances and some innovations were also discussed. The simple structure and good walking performance lead to the conclusion that the six leg two phase walking mechanism is relatively economical and reasonable.