单 位：
#R##N#2. Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province, Luoyang 471003, China;Luoyang Tractor Research Institute Co., Ltd., Luoyang 471039, China;College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China;1. College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China;College of Agricultural Equipment Engineering, Henan University of Science and Technology, Luoyang 471003, China.
摘 要：
To study the walking status of a goat on slope and the walking mechanics, a comparative analysis of the walking gait mode of a goat on different slopes was conducted. The uphill and downhill walking processes on different slopes (6 degrees, 18 degrees and 36 degrees) were recorded by a high speed video system. The experimental image results were processed and analyzed via SigmaScan software and MATLAB software. The characteristic parameters of locomotion gait on the different slopes and the angle change curves of each goat leg in the process of slope movement indicated that the goat performed tetrapod gait, static gait, ipsilateral gait and trot gait on different slopes. With the increase of gradient in the uphill process, the corresponding load factors of each leg were 0.65 +/- 0.15, 0.75 and 0.645 +/- 0.205, whereas those in the downhill process were 0.70 +/- 0.08, 0.66 +/- 0.06, and 0.685 +/- 0.125. Results showed that the load factors of each leg are higher than 0.5. The foreleg angle of alpha (the angle of wrist joints), which ranges from 100 degrees to 130 degrees, is suitable for different slopes. However, the angle of beta (the angle between the thigh and the forward direction in the walking process of goat), which ranges from 99 degrees to 109 degrees, is suitable for the 6 degrees slope, whereas the angle ranging from 46 degrees to 91 degrees is suitable for the 18 degrees slope and 36 degrees slope. For the hind leg, the angle of alpha, which ranges from 105 degrees to 153 degrees, is suitable for the different slopes. The angle of beta, which ranges from 128 degrees to 150 degrees, is suitable for the different slopes. The research can provide a theoretical basis and experimental data for the design of biomimetic agricultural slope walking mechanism.
