A Comparative Study on Running Stability of Walking BoatVehicle

A specific walking mechanism for boatvehicles is designed to improve the walking ability of machines working on soft land of forage grass in coastal areas making use of grass roots to produce thrust rather than being wound by them. The mass center height, forward velocity, running direction and vehicle transversal stability of a sixleg twophase, an eightleg twophase and a twelveleg fourphase walking boatvehicles were compared and analyzed in this paper. Influences of the structure of these walking boatvehicles and soil conditions on their running performances and some innovations were also discussed. The simple structure and good walking performance lead to the conclusion that the sixleg twophase walking mechanism is relatively economical and reasonable.