Creative Strategy of Passing Irregular Area for Forest Chassis with Bionic Foot

  • Tingting Sui, Jinhao Liu, Liang Chen, Qingqing Huang, Tiebo Sun

Abstract

Irregular obstacles and sunken pits in forest area are the most difficult terrain for chassis to move smoothly. To solve this problem, an innovative passing strategy is proposed. This strategy is realized by a bio-inspired walking foot with adjustable support foot (BWF-ASF) designed according to bionics and mechanism principle. First, structures of BWF-ASF is briefly introduced, the key part is adjustable support foot (ASF). The kinematics principle is presented and the motion model and trajectory of ASF is analyzed. Second, the strategy of moving over varied terrain is explained, then the mechanical model of BWF-ASF is built in Solid Edge and the simulations for the BWF-ASF that walks in three conditions are constructed in ADAMS. The results illustrate that, with the structural parameters of ASF in this paper, the BWF-ASF can pass obstacle of 60mm height, sunken pit of 120mm width and slope of 25 degrees smoothly. For traversing the highest obstacle, the ASF need to rotate 45degrees, while no rotation and displacement is required for traversing pit. The simulation experiments show that motion range is in good agreement with the kinematic solution and trajectory.

Published
2020-05-31
How to Cite
Tingting Sui, Jinhao Liu, Liang Chen, Qingqing Huang, Tiebo Sun. (2020). Creative Strategy of Passing Irregular Area for Forest Chassis with Bionic Foot. Design Engineering, 284 - 301. https://doi.org/10.17762/de.vi.386
Section
Articles