| Our country hilly mountain area suitable for small agricultural machinery operations,due to the impact of arable land conditions,however,small-scale agricultural machinery currently has the problem of poor walking balance,so it is very urgent to study the balance control of small-scale agricultural machinery.Since goats often walk on uneven ground,this article uses goats as the research object,which was studied to analyze the exercise parameters when the goats walk on the slopes.It provides the basic experimental data for the design of walking mechanism of imitation goat slope.1.Establish local and holistic model of goat walking on slopes.Based on the structure of goat,the key parameters of goat model were described.The kinematics and dynamics of goat were analyzed by D-H method,virtual leg principle and Lagrange functional balance method.The kinematics and kinetics equations were obtained.The establishment of the head related model,access to the center of massrelated parameters.2.Designed to complete the goat in the slope of the walk test.The slope automatic adjustment system is used to provide different test slopes.The experiment process of goats on different slopes is introduced from the aspects of test design,test object,test equipment,test site,test process,test data processing and analysis.The high-speed photography system was used to collect the data of goats with different gradient to analyze and study the parameters of trajectory function and velocity for dynamic analysis.The angle sensor measuring system was used to measure the knee angle of each leg,and the data were analyzed preliminarily.The software such as Matlab and Origin were used to calculate the model data and draw the image.3.Comparative analysis of model and test results.Through Matlab software to calculate the head and the overall model velocity values,the theoretical speed and acceleration obtained by the model compared with the actual values of the test to verify the correctness of the model.It also prepares for further model simulation analysis and optimization.4.Head adjustment goats in the slope of the balance control and regulation.Through the analysis of the overall system to study whether the head of the stability margin size and balance control algorithm.Studying the effect of the head on the overall balance and the balance control strategy lay the foundation for improving the balance of the bionic structure in the future.This topic provides a new idea for the in-depth study of bionics in mechanical system-related applications.It also has some practical significance for reducing development costs and improving product performance. |
