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针对丘区农机爬坡越障行走不便等问题,提出一种液压能驱动的2-DOF仿生助力腿机构。阐述了仿生腿机构的设计原理及其在农机中的应用,在此基础上建立仿生腿对农机助力过程的动力学模型,求解动力学逆问题,数值仿真得到在不同坡度下撑地助力过程中关节液压缸驱动力和铰点受力的变化规律。结果表明:在30°坡度以内,仿生腿助力过程中农机沿斜坡向上运动平稳,且液压缸驱动力和铰接点受力变化平缓,无明显冲击,说明所提出的驱动方案可行且机构设计合理,这将为仿生助力腿智能驱动控制和丘区农机的研究奠定了基础。
Aimed at the inconveniences such as the climbing obstacle of hill climbing of agricultural machinery in hill area, a kind of 2-DOF biomimetic power leg mechanism driven by hydraulic pressure was proposed. The design principle of bionic leg mechanism and its application in agricultural machinery are expounded. On this basis, the dynamic model of bionic leg to assist process of agricultural machinery is established and the inverse problem of dynamics is solved. The numerical simulation results show that during the process of boosting with different slope The Changing Law of Joint Hydraulic Cylinder Driving Force and Hinge Point Force. The results showed that within 30 degrees of slope, the agricultural machinery moved steadily along the slope during the biomimetic leg assisting process, and the hydraulic cylinder’s driving force and hinge point force changed gently without obvious impact, which indicated that the proposed driving scheme was feasible and the mechanism design was reasonable. This will lay the foundation for the research on intelligent driving control of bionic assistive leg and agricultural machinery in hill areas.