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首页> 外文会议>European-African Regional Conference of the Internatinal Society for Terrain Vehicle Systems >STUDY ON LEGGED TYPED ROVERS WITH FUNCTION OF VIBRATION/STOP TO TRAVEL ON LOOSE SOIL
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STUDY ON LEGGED TYPED ROVERS WITH FUNCTION OF VIBRATION/STOP TO TRAVEL ON LOOSE SOIL

机译：振动/停止功能的腿部型号的研究

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摘要

In recent years, the leg typed rovers are focused on as an exploring rover with high running performance. However, It is difficult to walk on the loose ground for the leg typed rovers. The surface of the loose ground is easy to destroy at motion of its legs. Destroying behavior at motion of the leg which is contacting on the surface means that the rovers are easy to occur "slip". Purpose of our research is to improve the movement performance of the leg typed rovers using effects which a process of vibration-stop was implemented. When the loose ground is given "vibration", there are two effects. One is to increase density of the loose ground, and the other is to increase sinkage of the legs. If the density of the loose ground is increased by vibration/stop, the rovers are not easy to slip compared with the situation without vibration/stop or previous situation. This means that the shearing strength becomes large since the loose ground is given effect of vibration/stop. Moreover, when the sinkage of the legs are increased at vibration, the supporting force for the rovers becomes large. The difference of ground before and after vibrating are confirmed by implemented any experiments such as measurement of density of the ground, sinkage of the leg to the ground and passive earth pressure. As a result, the value of "density" and "sinkage of leg" ware increased after vibration. Therefore, these effects were confirmed from experimental results. Furthermore, these effects given by vibration/stop are confirmed using multi-legged rover. Some experiments using a proposed rover to walk on the loose ground are carried out. In experimental results, the displacement of proposed rovers with vibration becomes long compared with the one without vibration. From theses experimental results, we could get knowledge that the method using vibration/stop was very effective for the leg typed rovers.
机译：近年来，腿部类型的流浪者专注于探索流动站，具有高运行性能。然而，很难走在腿部打字的群体的松散地上。松散地面的表面易于在其腿的运动中摧毁。在表面接触的腿的运动中破坏行为意味着漫游者易于发生“滑动”。我们的研究目的是通过实施振动停止过程的效果来改善腿部类型的流动的运动性能。当松散地被赋予“振动”时，有两种效果。一个是增加松散地的密度，另一个是增加腿部的沉陷。如果通过振动/停止增加松散地的密度，与没有振动/停止或以前情况的情况相比，这些流浪者不易滑倒。这意味着由于松散地被振动/停止的效果，剪切强度变大。此外，当腿部的沉降振动增加时，沟槽的支撑力变大。通过实施任何实验，如诸如地面密度的测量，腿部下降到地面和被动地球压力的实验，确认了振动前后的地面差异。结果，振动后“密度”和“腿部沉陷”的值增加。因此，从实验结果中确认了这些效果。此外，使用多腿漫游器确认振动/停止给出的这些效果。采用建议漫游器走在松散地上的一些实验进行。在实验结果中，与没有振动的振动相比，振动的提出的舷杆的位移变长。从实验结果中，我们可以了解使用振动/停止的方法对腿部类型的流浪者非常有效。

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