肢腿履带足机构抬腿工况动力学分析与实验研究

赵富强,杜特,常宝玉,牛志刚

Dynamics analysis and experimental research on leg lifting condition of limb-leg crawler foot mechanism

Fu-qiang ZHAO,Te DU,Bao-yu CHANG,Zhi-gang NIU

表1 单肢腿系统铰接点 I 、 M 处的驱动力矩对比

Table 1 Comparison of driving torque at the hinge points I and M of single limb-leg system

时刻 t/s	驱动力矩计算值/(N·m)		驱动力矩仿真值/(N·m)		相对偏差/%
时刻 t/s	点I	点M	点I	点M	点I	点M
2	81.46	65.34	64.39	50.43	20.95	22.83
4	80.48	62.17	63.34	49.46	21.30	20.44
6	88.32	63.84	61.89	48.06	29.93	24.72