Study And Design For A Bipedal Walkingmechanism With Two Air-cushion Boots

Due to the characteristics of wet and soft terrain with severe environment,e.g.,low bearing capacity and unevenness,conventional vehicles could encounter the problems including slipping,sinking and claying,etc.According to the characteristics of wet and soft terrain environment,a novel bipedal walking mechanism with two air-cushion boots is investigated to improve its crossing-terrain ability and stability by combining the technology of unconventional vehicles and mobile robots.First,the working principle of the bipedal walking mechanism is described and the key design parameters of the mechanism are determined.Also,specific structure is designed in the software environment of Solid Works,mainly including knee controlling structure and air-cushion boots.Then,kinematics and dynamics models of the designed walking mechanism are respectively built.The gait planning is realized by using inverse planning method based on geometric constraints.Based on the two-parameter Mooney-Rivlin model and finite elastic theory,a steady-state model for single air-cushion boot is theoretically established and verified by using ANSYS.On this basis,a transient kinematic model of single air-cushion boot is built with software Matlab and then is verified by experiments.Finally,a virtual prototype model is established and co-simulation is carried out with softwares including Matlab and ADAMS.Preliminary physical prototype is developed for a basic observational walking test.The feasibility of the proposed walking mechanism is proved by both simulation and experimental results.