自适应低振动步行轮仿生设计与性能分析

为提高具有高通过性的步行轮平顺性,基于鸵鸟足运动姿态与跖趾关节储能减振机理,运用工程仿生学原理与技术,设计了一种仿生自适应低振动步行轮。有限元数值模拟结果表明,轮上载荷30 N,角速度10(°)/s情况下,相比于传统步行轮,仿生步行轮轮心波动范围在软路面和硬路面分别降低了85.71%和93.33%。采用轻载荷月壤/车轮土槽测试系统验证了仿生步行轮的减振性能。当滑转率小于40%时,仿生步行轮的挂钩牵引力均大于传统步行轮;当滑转率大于40%,且仅在角速度为20(°)/s时,仿生步行轮的挂钩牵引力才小于传统步行轮,表明仿生步行轮在松软地面具有较好的牵引通过性。同时,相比于传统步行轮,当角速度为30(°)/s时,仿生步行轮在软路面和硬路面的加速度分别减少了6.3%和15.8%,振幅分别减小了14.6%和9.6%。在保证松软地面优越牵引通过性能前提下,仿生步行轮比传统步行轮的轮心波动更小,振动明显降低,有效解决了步行轮多边形效应引起的振动问题。

Bionic Design and Performance Analysis of Adaptive Low Vibration Walking Wheel

Based on ostrich foot locomotion posture, energy storage and vibration reduction mechanism of the metatarsophalangeal joint (MTP), a bionic adaptive low vibration walking wheel was designed to improve the low vibration performance. Through the finite element method (FEM), motion process of the walking wheel was analyzed on the soft/hard ground. The result showed that under the condition of 30N load and 10(°)/s, the fluctuation range of the bionic walking wheel center was reduced by 85.71% and 93.33% on the soft and hard ground, respectively. In order to further verify the vibration reduction performance of the bionic walking wheel, the light load of lunar soil/wheel interaction test system was employed for test. When the slip ratio was smaller than 40%, the drawbar pulling force of the bionic walking wheel was all larger than the traditional walking wheel. When the slip ratio was larger than 40% and the speed was 20(°)/s, the drawbar pulling force of the bionic walking wheel was less than the traditional walking wheel. The results showed that the bionic walking wheel was provided with better traction and passing-through performances on the soft ground. Under the condition of 30(°)/s, the accelerations were reduced by 6.3% and 15.8% on the soft and hard ground, respectively. Meanwhile, the amplitudes were reduced by 14.6% and 9.6%, respectively. On the premise that passing through performances of the bionic wheel was assured, combining the simulation and test data on the soft and hard ground, the wheel center fluctuation of the bionic walking wheel was smaller than that of the traditional walking wheel. Therefore, the vibration of the walking wheel, caused by polygon effect, was solved effectively.