螺旋推进车转向运动学分析  

Analysis on Steering Kinematics of Screw-driven Vehicle

作　　者：郭晓林[1] 刘杰[1] 孙伟[1] 赵炎[1] 

机构地区：[1]装甲兵工程学院机械工程系,北京市100072

出　　处：《农业装备与车辆工程》2014年第10期20-24,共5页Agricultural Equipment & Vehicle Engineering

摘　　要：根据差速转向原理,首先对内外侧螺旋滚筒的转向运动学进行了分析,深入探究了转向过程中螺旋滚筒滑移、滑转现象的成因;根据螺旋运动特性,合理简化了整车转向分析过程,对整车转向运动学进行了全面的分析;通过动力学模型求解,对转向过程中的运动学参数进行了仿真,讨论了各个影响因素的变化规律。Based on the differential steering theory, the steering kinematics of screw rotors of both sides is analyzed and the cause of the slip in the skid steering is further explored. According to the characters of the spiral motion, the steering process of the screw-driven vehicles is reasonably simplified and its steering kinematics is analyzed comprehensively. Through the calculation formula of the dynamics model, the kinematics parameters in the steering are simulated and the changing rule of the factors in the steering process is discussed.

关 键 词：螺旋推进车 转向 运动学 仿真 

分 类 号：U463.51[机械工程—车辆工程]