| The control system of construction machinery should be simple and the performance ofit should be steady and efficient in special environment,especially nuclear-related. So, theMechanical structure can change and adjust the structure of itself to adapt outsideenvironment is the subjects and hot issues of special construction machinery. Walkingsystem is main part of construction machinery to be intelligent and able to adapt roadconditions, the study of walking structure is highly valued than before.In this paper, wheel-leg walking structure with multi freedoms and adjusting structureis provided. The configuration and structure parameters of wheel-leg system is studied, theKinematic and dynamic performance of it is Analyzed, the performances of the structure isanalyzed theoretically by simulation.The completed tasks including:1) wheel-leg adjusting walking mechanism is obtained through analyzing, simplifyingand revising the arm bone structure.2) The results of kinematical and dynamical analysis for wheel-leg walking mechanismis: dynamical coordinate of end of walking mechanism’s leg to time in moving process;explicit formulation of leg’s velocity and acceleration; workspace of one leg; the specialangle of the bar of one leg on the given position.3) The selection of rough size parameter of the wheel-leg adjusting walkingmechanism; the development of3D model of the walking mechanism in Pro/E; the analysisof moving type of the mechanism; the analysis of across-obstacle ability of walkingmechanism joined with the body of excavator.4) The analysis of force on moving walking mechanism after the importing of the3Dmodel into the Automatic Dynamic Analysis of Mechanical System(ADAMS) and theanalysis of the mechanical system; the force on moving walking mechanism with load on the excavator.With the analysis, the multi-position, enhanced adjust-land and across-obstacle abilityis verified. The mechanism will have intelligent function with computer control system andenough sensors on the mechanism. |
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