步行桨轮及其基本受力分析

在不平的路面上步行运动大大优于轮子的滚动 ,然而目前仿生步行机构相当复杂 ,不适于实际应用。本文介绍了作者提出的一种具有实用性的步行机构——转动滑杆机构 ,并对使用这种机构的步行车辆的受力情况进行了基本分析。步行运动是个很复杂的过程 ,从形态、结构、功能、控制诸方面全面模仿是相当困难的。转动滑杆机构利用了轮子与常用发动机的良好适应性 ,而且能实现模仿步行运动的基本要求。它能产生比一般步行机器人快得多的步行运动 ,可以很方便地安装在现有的轮式车辆上。我们把用于步行机械上的转动滑杆机构命名为“步行桨轮”,它在陆地上可进行步行行走运动 ;在水中还能像船桨一样地划水 ,因此可用于制造水陆两栖步行车辆

A Walking Paddle Wheel and Its Elementary Force Analysis

On uneven road surface,walking exceeds rolling, however,existing bio simulation walking machine is quite complicated and not suitable for practical use. In this paper, a practicable walking mechanism, revolving slide bar mechanism, which is devised by the authors, is introduced, and its force condition is analyzed. The revolving slide bar mechanism makes use of the fine suitability between wheel and common engine,to imitate walking movement. This mechanism can run more rapidly than familiar walking robot, and can be assembled on existing wheeled cars quite expediently. The revolving slide bar mechanism used for walking machine is named walking paddle wheel. It can walk on land, paddle in river. Thereby it can be used to make amphibious vehicle.