摘要
针对丘区农机爬坡越障行走不便等问题,提出一种液压能驱动的2-DOF仿生助力腿机构。阐述了仿生腿机构的设计原理及其在农机中的应用,在此基础上建立仿生腿对农机助力过程的动力学模型,求解动力学逆问题,数值仿真得到在不同坡度下撑地助力过程中关节液压缸驱动力和铰点受力的变化规律。结果表明:在30°坡度以内,仿生腿助力过程中农机沿斜坡向上运动平稳,且液压缸驱动力和铰接点受力变化平缓,无明显冲击,说明所提出的驱动方案可行且机构设计合理,这将为仿生助力腿智能驱动控制和丘区农机的研究奠定了基础。
According to the problem of walking inconvenience of farm machinery to climb and over obstacle in hilly region,a new bionic power assistant leg that contain 2-DOF which driven by hydraulic energy is presented.The mechanism design theory and its application in farm machinery was elaborated,a kinetics model about the mechanism assistant farm machinery was established to solution of the inverse problem.With computer simulation,the integrated variation of the hydraulic cylinders driving forces in different slope and the hinge point stress was obtained.The result shows that farm machinery with bionic mechanism works steady along slope,the driving forces and hinge point stress change smoothly without significant impact that below the slope of 30 degrees,the design of this leg mechanism is reasonably and feasible,it＇s foundation of intelligent driving control of the mechanism and research on hilly region farm machinery.
出处
《机械设计与研究》
CSCD
北大核心
2013年第4期36-39,共4页
Machine Design And Research
基金
四川省教育厅科研资助项目(12ZB129)
西华大学研究生创新基金资助项目(ycjj201277)
西华大学制造与自化省高校重点实验室开放基金项目(szjj2012-022)
关键词
丘区
农机
仿生
助力腿
动力学
hilly region
farm machinery
bionic
assistant mechanism
kinetics
