Structure design and traction trafficability analysis of multi-posture wheel-legs bionic walking wheels for sand terrain |
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| Institution: | 1. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, PR China;2. School of Mechanical and Aerospace Engineering, Jilin University, Changchun, PR China;1. Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, ON L1H 7K4, Canada;2. Volvo Group Trucks Technology, Vehicle Analysis, Dept. BF72920, Göteborg AB4S 405 08, Sweden;1. Key Laboratory for Bionics Engineering of Education Ministry, Jilin University, Changchun 130022, China;2. Institute of Spacecraft System Engineering CAST, Beijing 100094, China;3. China North Vehicle Research Institute, Beijing 100071, China;1. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, PR China;2. China North Vehicle Research Institute, Beijing 100000, PR China;1. Key Lab for Bionics Engineering of Education Ministry, Jilin University, Changchun 130022, China;2. Institute of Spacecraft System Engineering, CAST, Beijing 100094, China |
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| Abstract: | Nowadays, the existing walking wheels still have problems with the wheel-legs structure and the traction trafficability on the loose sand. It is commonly believed that African ostrich (Struthio camelus) is a kind of bipedal species with superior running performance on the sandy environment. Being enlightened by this, four bionic walking wheels (herringbone wheel, in-line wheel, V-shaped wheel and combination wheel) were designed and tested by imitating the structure and posture of ostrich’s feet travelling on sand. The results showed that when the wheel load was 20, 30 and 50N respectively and the slip ratio was less than 35%, the herringbone wheel had better traction trafficability than that of other wheels. When the wheel load was 30, 50 and 70N and the slip ratio was more than 35%, the in-line wheel had better performance than that of other wheels. It was shown in this thesis that the bionic walking wheels designed with the multi-posture wheel-legs and the simple structure could reduce the soil resistance and the disturbance to sand, thereby achieving a superior performance of traveling on sand. In addition, a new idea and research method for designing of walking mechanism on soft terrain has been provided in this thesis. |
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| Keywords: | Ostrich foot Bionic walking wheel Multi-posture wheel-legs Traction trafficability |
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