Wheeled walking mechanism has the advantages of high mobility and low rolling resistance, but it is easy to sink and slip when working in soft and muddy terrain. Tracked walking mechanism has the advantages of high passability and stability, but it has the problems of difficult steering and slow walking speed. In order to make the walking mechanism possess a combination of passability, stability, and mobility, a coordinated variable wheel-track walking mechanism was designed. The coordinated variable triangle track can change the landing area through the deformation structure to improve the ability of the walking mechanism to adapt to different terrains. The kinematics equation of the wheel-track walking mechanism was established, and the front wheel steering angle equation during motion was derived. Based on RecurDyn software, the motion simulation of the walking mechanism was carried out under the conditions of straight walking and turning on the flat ground, climbing hillsides, and crossing ditches. The simulation results show that the coordinated variable wheel-track walking mechanism has the mobility of wheeled walking mechanism and the passability and stability of the tracked walking mechanism. The stability and climbing ability of the wheel-track walking mechanism was better when the coordinated variable triangle track in the stretch state, and the mobility and steering ability was better in the contraction state.

中文翻译：

---

协调变轮距行走机构设计与运动学分析

轮式行走机构具有机动性高、滚动阻力小等优点，但在松软泥泞的地形作业时容易下沉和打滑。履带行走机构具有高通过性和稳定性的优点，但存在转向困难和行走速度慢的问题。为了使行走机构兼具通过性、稳定性和机动性，设计了一种协调的可变轮距行走机构。协变三角履带通过变形结构改变着地面积，提高行走机构适应不同地形的能力。建立了轮轨行走机构的运动学方程，推导了运动过程中的前轮转向角方程。基于 RecurDyn 软件，行走机构在平地直走转弯、爬山坡、过沟等条件下进行运动仿真。仿真结果表明，变轮履协调行走机构具有轮式行走机构的机动性和履带行走机构的通过性和稳定性。协调变三角履带在拉伸状态下轮轨行走机构的稳定性和爬坡能力较好，在收缩状态下移动性和转向能力较好。仿真结果表明，变轮履协调行走机构具有轮式行走机构的机动性和履带行走机构的通过性和稳定性。协调变三角履带在拉伸状态下轮轨行走机构的稳定性和爬坡能力较好，在收缩状态下移动性和转向能力较好。仿真结果表明，变轮履协调行走机构具有轮式行走机构的机动性和履带行走机构的通过性和稳定性。协调变三角履带在拉伸状态下轮轨行走机构的稳定性和爬坡能力较好，在收缩状态下机动性和转向能力较好。