步行式底盘转向系统运动分析  

Movement Analysis for Walking Mobile Chassis Steering System

作　　者：韩军[1] 高德平[1] 陈高杰 吴继斌 何绍华 

机构地区：[1]南京航空航天大学,南京210016 [2]总装工程兵科研一所,无锡214035

出　　处：《机械科学与技术》2005年第12期1495-1498,共4页Mechanical Science and Technology for Aerospace Engineering

摘　　要：为了获得步行式底盘转向系统的运动参数,针对底盘转向系统的结构特点,以保证转向时整车稳定性和转向轮无侧向滑动为出发点,建立了转向系统的动力和运动学模型,分别对前轮、后轮和四轮转向3种转向工况的最小转弯半径、转弯速度和机构运动状态参数进行了优化分析。研究表明,该理论分析方法可以为底盘转向系统的设计和应用提供了理论基础。In order to acquire the movement parameters of a walking mobile chassis steering system, this paper establishes its kinematics and dynamic model on the basis of its structural features so as to assure steering stability and all wheels rolling without slipping. The minimum steering radius, steering velocity and movement state of the steering system are optimized for three steering states ： front wheel steering, rear wheel steering and four wheel steering. The research shows that the method can provide theoretical basis for the design and application of a walking mobile chassis steering system.

关 键 词：步行式底盘 转向系统 稳定性 纯滚动 优化分析 

分 类 号：TH113.2[机械工程—机械设计及理论] TH123