中文摘要：

以机械工业绿色化发展趋势为依据,移运装置于复杂地面的通过性与动力性已成为目前机械工业领域亟待解决的问题。分析常规行走方式于复杂地面环境工作中,存在低通过性、高能源损失或破坏生态力强等特点。综合阐述非常规行走机构于复杂地面环境中的运动机理,对比分析滑动行走方式的运动特点。详述多轮同辙问题的解决方案,分析地面力学发展中的不足之处,以车辆构型为出发点分析滑动行走方式在车辆形态学中的应用。综合阐述以滑动行走方式作为代步方式的机械装置的研究与应用,从机械系统设计、动力特性方面详述滑动行走机构的机理与性能。深入阐述滑动特性的微观机理及仿生学研究在地面机械中的应用。归纳滑动行走方式在机器人和车辆研究领域的研究方法与发展趋势,预测机械机构与结构的＂柔顺性＂在机械工程领域中的发展趋势。

英文摘要：

According to the greening developing tendency in machinery industry,the trafficability and dynamic performance of transportation platform in intricate terrain has become an urgent problem in the mechanical area.Aimed at conventional walking,the reason for lower trafficability,higher-energy consumption,and stronger destruction of ecology in intricate terrain is analysed.The mechanisms of various unconventional walking are discussed.Compared with the others,characteristic of sliding unconventional walking is described.As the main transportation platform,vehicle configuration is the research priorities.Therefore,the solution of multi-pass problem,as one of pivotal problems in vehicle configuration,is discussed in detail.The inadequacies in terramechanics are revealed,which is one of the essential reasons for the development of different vehicle configurations.On the basis of vehicle configuriation,the effect of sliding walking is analysed in vehicle morphology.The application area and research methods of sliding walking devices are described comprehensively,which characterized sliding as the means of transport.The mechanism and performance of sliding walking devices are discussed minutely from the points of mechanical system design and dynamic characteristic.The microscopic mechanism of the sliding characteristics and bionics of machinery on the ground are described thoroughly.The research methods and developing tendency of sliding unconventional walking is summarized in the fields of robots and vehicles.The predicated key sliding technology in the future will focus on the compliance in the mechanical analysis and structural analysis.