四履带串联式行走机构攀越能力分析  

Climbing ability analysis of 4-tracked serial walking mechanism

作　　者：罗瑜[1] 李华[1] 罗艳蕾[1] 赵丽梅[1] 

机构地区：[1]贵州大学机械工程学院,贵州贵阳550025

出　　处：《机械设计》2016年第6期56-60,共5页Journal of Machine Design

基　　金：贵州省科学技术基金资助项目(黔科合J字[2012]2108);贵州省重大专项资助项目(黔科合重大专项字[2011]6018);贵州大学引进人才资助项目(贵大人基合字[2013]42)

摘　　要：针对普通双履带车辆连续垂直障碍攀越能力的局限性,提出了一种四履带串联式行走机构,该履带机构通过一对同步的液压缸控制,能够使同侧的两条铰接履带产生相对转动,便于整车攀越具有一定高度的连续垂直障碍。借助多体动力学分析软件对普通履带和四履带串联式行走机构进行了动态分析和仿真。结果表明:四履带串联式行走机构的驱动力矩、张紧力等参数明显优于双履带。采用四履带串联式行走机构的车辆液压驱动马达的冲击负载较小。在攀越同等高度的垂直障碍时,四履带串联式车辆的倾斜度更小,驾驶舒适度更高。A 4-tracked serial walking mechanism was proposed aiming at the limitation of common double tracked vehicle continuous vertical obstacle climbing ability. The tracks were controlled by a pair of synchronous hydraulic cylinders. The two hinged crawlers in the same side could make relative rotation so that the whole mechanism could climb a certain height of continuous vertical obstacle. The dynamic analysis and simulation were performed on the common tracked and 4-tracked serial walking mechanism using multi-body dynamics analysis software. The results showed that driving torque, bushing tension in 4-tracked serial walking mechanism was much better which in double tracked mechanism. The impact load of hydraulic drive motor in adapted 4-tracked serial walking mechanism was small. The gradient of 4-tracked vehicle was lower when climbing the same height of the obstacle, which was more comfortable to drive.

关 键 词：四履带串联式机构 虚拟样机 垂直障碍 驱动力矩 

分 类 号：S220.3[农业科学—农业机械化工程]