A bionic mechanical foot with adaptive variable postures travelling on sand

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL
Rui Zhang , Xumin Sun , Dianlei Han , Rui Zhang , Hua Zhang , Jia Ma , Lige Wen , Meng Zou
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Abstract

In this study, an adaptive variable posture bionic mechanical foot is designed, which enables the transformation of different postures during the touchdown period. At the same time, the bolts at the joints are tightened to enable the non-variable configuration function of the bionic mechanical foot. A test rig was used to test the travelling and traction performance of the bionic mechanical foot at different speeds on sandy and hard surfaces. The results show that on sandy surfaces, at both high and low speeds, the variable posture mechanical foot outperforms the non-variable posture mechanical foot, especially at high speeds, indicating that the variable mechanical foot is suitable for movement at higher speeds on sandy ground. On hard ground, the traction and pedaling forces generated by the variable posture mechanical foot are essentially the same as those generated by the non-variable posture mechanical foot at low and high speeds, indicating that the travelling and traction performance of both mechanical feet on hard ground is the same. The variable posture mechanical foot is suitable for high-speed movement on sandy ground, providing a theoretical and technical basis for the design of future legged robots for efficient movement on desert surfaces and deep space soft surface environments.

一种具有自适应可变姿态的仿生机械脚在沙滩上行走
本研究设计了一种自适应可变姿态仿生机械足,实现了着地过程中不同姿态的转换。同时,拧紧关节处的螺栓,实现仿生机械足的非变构功能。利用试验台对仿生机械足在不同速度下在沙质和硬质路面上的行走和牵引性能进行了测试。结果表明,在沙地上,无论高速还是低速,可变姿态机械足都优于非可变姿态机械足,特别是在高速下,表明可变姿态机械足适合在沙地上以较高的速度运动。在坚硬地面上,变姿机械足在低速和高速下产生的牵引力和蹬力与非变姿机械足产生的牵引力和蹬力基本相同,说明两种机械足在坚硬地面上的行驶和牵引性能是相同的。可变姿态机械足适合在沙地上高速运动,为未来设计在沙漠地表和深空软地表环境下高效运动的有腿机器人提供理论和技术基础。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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