【摘要】 对步行轮轮脚与土壤相互作用的动力学进行了理论分析,运用土力学中的被动土压力理论推导了描述步行驱动力、滚动阻力、支承力和行走效率的数学模型;从而为优化步行轮主要参数和预测步行轮的牵引附着性能提供了理论依据。更多还原

【Abstract】 This paper analyzed the kinetics of the interaction between the walking wheel and soft soil by using the theory of passive earth pressure, derived the mathematical models for describing the driving force, the rolling resistance, the normal supporting force and the tractive efficiency of the walking wheel. Whereby it is able to optimize the major parameters and to predict the kinetic performance of the walking wheel with the results studied.更多还原