BASIC STUDY ON AN AGRICULTRAL WALKING VEHICLE

农用步行车的基础研究

• 批准号: 09460115
• 负责人: YAMAMOTO Hiroaki
• 金额: $ 5.89万
• 依托单位: Kobe University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09460115/
• 关键词: Agricultural Vehicle; Walking Machine; Quadruped; Pantograph Mechanism; Walking Gait; Straight Walking; Lateral Walking; Rotational Walking; パンタフラフ機構; ユニット構造; Agricultural Vehicle; Walking Machine; Quadruped; Pantograph Mechanism; Walking Gait; Straight Walking; Lateral Walking; Rotational Walking; パンタフラフ機構; ユニット構造

This research has been done to observe the capability of applying a walking mechanism to the agricultural transportation vehicle. The following items were done during the given period of study.1.Decision of mechanism for a walking vehicle. Based on some information from previous studies on walking robots, we have decided the number of leg to be 4, the number of DOF per leg is 3. We employed the pantograph mechanism for the leg.2.Manufacturing of experimental walking vehicle. We have designed a prototype vehicle where the unit structure was employed. After walking experiment for initial model, we modified more powerful motor unit for body elevation. Quadruped walking gait was found by try-and-error method which turned out to be almost the same as wave gait.3.Discussion on control system and walking pattern. We have developed a motor-control program for mounted computer system. By using the modified walking vehicle, the walking velocity was about 0.23cm/sec for straight walk. We further … More realized the lateral walking and the rotational walking by our vehicle. Moreover, we added some sensors to measure distributed body load and body gradient angle and results showed that the translation of C.G. must be done by considering the feedback of information from the load cell systems.4.Discussion on surrounding environmental status detection. Ultrasonic sensor was firstly applied to check the capability of detecting plane surface, grooved surface and step. The result told us that the application of ultrasonic sensor is not suitable for sudden change of environments. Later, we applied the stereo image processing system to measure the length of particular point on a soil surface. We found that this system will be applicable to the walking vehicle system.5.Summary. We have developed an experimental walking vehicle. In future agriculture, there may be the chance of application especially in the situation of no-paved road conventional agricultural machinery. Further research should be concentrated on the applied walking on not only flat terrain but also on the slope. Less

这项研究是为了观察到将步行机制应用于农业运输车的能力。以下项目是在给定的研究期间完成的。1。步行车辆的机制要求。基于先前关于步行机器人的研究的一些信息，我们认为腿的数量为4，每腿DOF的数量为3。我们采用了腿部的仪表机制。2。实验性步行车的制造。我们设计了一种原型车辆，在该车辆中使用了单位结构。经过初始型号的步行实验后，我们修改了更强大的电动机单元以进行身体高程。通过尝试和纠错方法发现了四倍的步行步态，结果与波步态几乎相同。3。识别控制系统和步行模式。我们已经开发了用于安装计算机系统的电机控制程序。通过使用改装的步行车，步行速度约为0.23厘米/秒。我们进一步……更实现了横向行走和我们车辆的旋转行走。此外，我们添加了一些传感器，以测量分布式的身体负荷和身体梯度角，结果表明C.G.的翻译。必须通过考虑来自负载电池系统的信息的反馈来完成。4。关于周围环境状态检测的识别。首先应用超声传感器来检查检测面表面，凹槽表面和步骤的能力。结果告诉我们，超声波传感器的应用不适合突然改变环境。后来，我们应用了立体图像处理系统，以测量土壤表面上特定点的长度。我们发现该系统将适用于步行车系统。5.Summary。我们已经开发了一个实验性步行车。在未来的农业中，可能会有可能进行应用的机会，尤其是在没有铺路的常规农业机械的情况下。进一步的研究应集中在不仅在平坦的地形上，而且在斜坡上行走的行走。较少的