气垫控制驱动的六足步行车辆仿真和试验研究

o improve the vehicle trafficability in soft-terrain environments, combined with the advantages of both air-cushion and walking mechanism, a novel hexapod walking soft-terrain vehicle structure is proposed creatively. The structure has better adaptability and trafficability than common soft-terrain machines under some complex soft-terrain conditions. In this paper, the structure and working principle of the vehicle are described firstly. Then two aspects as followed are studied, 1) a regression dynamics formular addressing the deformation-force relationship of air-boot is established by using Mooney-Rivlin model combined with orthogonal design, which is verified by tests. 2) a 21-degree dynamics gait simulation model is established, which is tested by a typical tripod gait process simulation. The research results show the effectiveness and feasibility of the novel vehicle structure, and provide useful references for physical vehicle manufacturing and control algorithm design.