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The modeling of the passive dynamic walker of flexible legged rimless wheel is studied, and the influence of damping coefficient on system dynamics is analyzed. According to the geometric characteristics of the walker, the independent generalized coordinates are selected to describe the position of the system, and the second kind of Lagrange equation is used to establish the dynamic model of the passive dynamic walker of flexible legged rimless wheel. By analyzing the structure and physical properties of the flexible leg, it is concluded that the impact occurs in the tangential direction of the telescopic leg and the impact force is not transmitted between the leg and the ground in the radial direction during the impact stage, and a state jump model under the assumption of partial impact is proposed. The numerical simulation of passive dynamic walking of flexible legged rimless wheels using different damping parameters verifies the effective-ness of the proposed method. When a larger damping coefficient is selected, the double-limb support period of periodic walking accounts for 77.6% of the whole walking cycle, while the single-limb support period accounts for 22.4% of the whole walking cycle. The periodic walking can be achieved when the slope angle is in the range of 0.1-0.7 rad. The slope angle of the flexible legged rimless wheel that can passively and dynamically walk on decreases as the damping coefficient decreases.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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