Abstract
This paper studies a creative forestry chassis installed bionic walking foot with adjustable support foot (FC-BWF&ASF) based on bionic principle, proposes a method to improve terrain trafficability by avoiding direct contact with obstacles and pits of unpredictable shapes and dimensions in forestland, which is realised by controlling the posture of BWF&ASF. The kinematics model is established by D-H method and trajectory is planned with compound cycloid method. Finally, the effectiveness is verified through simulation experiment in ADAMS. The results show that the chassis can surmount obstacle of 60 mm height as ASF rotates 45 degrees, while no rotation is needed to move over sunken pit of 120 mm width. Additionally, the fluctuation range of frame barycentre in two conditions is within 1 mm and 4 mm, respectively. The conclusion shows that within structural parameters, the novel foot structure contributes to cross irregular terrain with quiet good stability.
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