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3 肢腿履带足机构单腿抬起工况动力学仿真模型约束参数
Table 3 Constraint parameters of dynamics simulation model of single leg lifting condition of limb-leg crawler foot mechanism
参数量值
弹簧刚度系数4.52 N/mm
弹簧阻尼系数0.045 N/(mm/s)
接触刚度系数2 855.0
阻尼系数10.0 N/(mm/s)
穿透深度0.1 mm
静摩擦系数0.3
动摩擦系数0.1
静滑移速度100.0 mm/s
动滑移速度1 000.0 mm/s