Machine Design And Kinematics Simulation For Walking Climbing Machine

Based on the description of research status and future development of walking robot at home and abroad, this paper proposes structure scheme of a new walking robot according to the analysis of mechanical structure at home and abroad, then the mechanical structure of walking climbing machine is designed and kinematics simulation is done by the scheme.Based on the bionics principle, this paper proposes the mechanical structure of walking climbing machine which has a certain application value in agriculture and forestry, the leg type running gear both to have a certain climbing power and the running speed, and overcome shortcoming of oversize and overweight of machines which used generally in agriculture and forestry at present. The whole structure becomes simple and the change of centric becomes smooth by using the four link motion gears of walking climbing machine, the stability gets to rise biggest.Based on the analysis of walking climbing machine, this paper builds the kinematics model. Based on the D-H method, the paper forms the kinematics and analyzes. At last, the paper completes the solution of kinematics direct problem of walking climbing machine.In the end, the paper carries on the simulation of the walking climbing machine's kinematics on the basis of virtual prototype technique. The paper builds the 3D model by using PRO/E software; the model is imported into the ADAMS from PRO/E software by using the specific interface procedure MECH/Pro of PRO/E and ADAMS. In ADAMS, we carry on the movement simulation to it, gain walking climbing machine's each kind of state of motion, and carry on the analysis to its kinematics result.