林区六足步行机的设计与仿真

摘要

Aiming at the problem of large volume,high fuel consumption and high price of current mobile machinery in the forest area,the forest six-legged walking machine was designed based on bionics principle and imitation of human walking mode.The kinematic analysis of the six-legged walking machine was carried out by Denavit-Hartenberg method to solve the kinematic forward problem of the six-legged walking machine.ADAMS software was used to complete the motion simulation of six-legged walking machine in order to verify different kinds of motion characteristics of six-legged walking machine.The results show that the six-legged walking machine is reasonable in structure and stable in motion,and can realize straight-line walking,hill climbing and obstacle surmounting in forest area.It can be used as load-bearing platform to undertake light-duty transportation.%针对当前林区移动作业机械存在体积大、油耗高、价格昂贵等问题,基于仿生学原理,模仿人的行走方式,设计了林区六足步行机.应用Denavit-Hartenberg法对六足步行机进行了运动学分析,求解了六足步行机的运动学正问题.利用ADAMS软件对六足步行机进行了运动仿真,验证了六足步行机的各种运动特性.结果表明,六足步行机结构合理、动作稳健,能在林区实现直线行走及爬坡越障,可作为载物平台承担运输等轻型作业.