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为研究适用于沿海松软滩涂牧草地面上作业机器的行走机构，达到既不缠草又能利用草根推进的目的，提出了步行船式车辆行走机构。该文对六腿两相位、八腿两相位和十二腿四相位步行船式车辆的质心高度的跳动、前进速度的波动、行走方向的摆动以及步行船式车辆左右摇动进行比较分析，讨论了步行船式车辆的结构及土壤条件对步行船式车辆行走性能的影响及其改善途径。
In order to study the traveling mechanism applicable to the operating machinery on the soft coastal tidal flats, and to achieve the purpose of not using the grass for the grass roots, the paper presents the traveling mechanism of the walking ship. This paper compares and analyzes the bounce of the centroid of the six-legged two-phase, the eight-legged two-phase and the twelve-legged four-phase walking ship vehicle, the fluctuation of the forward speed, the wobbling of the walking direction and the left- INFLUENCE OF STRUCTURE OF WALKING BOAT VEHICLES AND SOIL CONDITIONS ON WALKING PERFORMANCE OF WALKING VEHICLES AND IMPROVING WAYS.