CAJ | 학술논문

根据气垫车辆在松软地面上行驶的优越性，参照蠕动式管道机器人的蠕动机构，介绍了一种新型的仿生步行行走机构气垫车——推拉式气垫运载平台。给出了其结构设计方案，并结合其结构特点详细阐述了其直线及转向行走机理。
근거기점차량재송연지면상행사적우월성，삼조연동식관도궤기인적연동궤구，개소료일충신형적방생보행행주궤구기점차——추랍식기점운재평태。급출료기결구설계방안，병결합기결구특점상세천술료기직선급전향행주궤리。
Aiming at the advantages of air-cushioned vehicles running on soft terrain and referring to the crawling mechanism of crawling pipeline robot, this paper introduces a new type of bionic stepping air-cush-ioned vehicle——push-pull air-cushioned platform. It also presents the structure design scheme and illus trates the walking principle of straight and steering movement according to the structural characteristics of the platform.