The Principle Design And Kinematics Analysis Of The Differential Walking Vehicle

The traditional design of walking vehicle has many shortcomings such as the complexity of structure, the difficulty of control, low load-duty, high cost and so on, and can not be used in practical purpose. Basing on the research of predecessor, in this paper, the author put forwards a kind of bran-new idea about the design of walking vehicle and a kind of design with non-joint structure of walking vehicle which is different from traditional design. The author proposes a pure mechanical walking vehicle with differential system in the drive transmission system. This walking vehicle has advantages of reliability in structure, convenience in manipulation, high load-duty, good kinetic and kinematical properties and low cost.In this researching, the design principle of the differential eight-leg walking vehicle is proposed and the material implement schemes are discussed. The author also finishes the choice of differential produce scheme and drive scheme. Basing on these, the author analyses the kinematics of the differential system and the leg of the walking vehicle. At the same time, the author finishes the computation of differential quantity and the analysis of turning. In addition, in this paper, the author builds simple models of the differential system and the whole vehicle and analyses their kinematics in ADAMS and validates the design idea more.