气垫控制驱动的六足步行车辆仿真和试验研究.pdfVIP

中国科技论文在线 气垫控制驱动的六足步行车辆仿真和试验 研究# 马聪，罗哲，喻凡** 5 （上海交通大学机械与动力工程学院，上海 200240 ） 摘要：为了提高车辆在软地面环境下的通过性，本文结合了气垫和腿式独立行走机构的优势， 创新性地提出了一种新型的六足气垫靴式软地面车辆结构。在某些复杂的软地面工况下，该 结构较常见的软地面机械结构有着更好的适应性和通过性。文中先介绍了车辆的结构和工作 原理，然后主要针对以下两个方面展开研究：1.结合正交设计，利用Mooney-Rivlin 模型建 10 立了揭示单靴充放气时形变-力关系的动力学回归模型，并进行了实验验证。2.建立了21 自 由度的车辆步态仿真模型，并对一种典型三角步态进行了仿真验证。研究结果表明了新型车 辆结构的可行性和有效性，并有利于物理样机的研制和控制算法验证。 关键词：车辆工程；软地面车辆；气垫靴；Mooney-Rivlin 模型；正交设计；整车动力学仿 真 15 中图分类号：U273 Simulations and Experimental Research on Hexapod Walking Vehicle Driven by Air Cushion Control Ma Cong, Luo Zhe, Yu Fan 20 (School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240) Abstract: To improve the vehicle trafficability in soft-terrain environments, combined with the advantages of both air-cushion and walking mechanism, a novel hexapod walking soft-terrain vehicle structure is proposed creatively. The structure has better adaptability and trafficability than common soft-terrain machines under some complex soft-terrain conditions. In this paper, the 25 structure and working principle of the vehicle are described firstly. Then two aspects as followed are studied, 1) a regression dynamics formular addressing the deformation-force relationship of air-boot is established by using Mooney-Rivlin model combined with orthogonal design, which is verified by tests. 2) a 21-degree dynamics gait simulation model is established, which is tested by a