全地形铰接式履带车辆俯仰运动性能  

Pitching movement performance of all terrain articulated tracked vehicles

作　　者：董超[1] 成凯[1] 胡康乐 胡文强[1] DONG Chao CHENG Kai HU Kang-le HU Wen-qiang(Co llege of Mechanical Science and Engineering, Jil in University ？ Changchun 130022 , China)

机构地区：[1]吉林大学机械科学与工程学院，长春 130022

出　　处：《吉林大学学报（工学版）》2017年第3期827-836,共10页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(51375202);国家科技计划和重大专项基金项目(2009DFR80010)

摘　　要：为了准确求解全地形铰接式履带车辆俯仰运动过程中的运动学和力学相关参数,在深入研究全地形铰接式履带车辆俯仰运动机理的基础上,采用数学建模的方法建立了全地形铰接式履带车辆俯仰运动过程中的运动学和力学模型,理论上推导出用于求解前后车体最大俯仰角度、俯仰高度、重心运动轨迹半径以及车辆顺利完成俯仰运动时铰接机构所需要提供的最小拉力等的理论计算公式,并以某一具体铰接式履带车辆为例进行了数值求解。最后,采用虚拟样机技术对所建立的理论模型进行了验证,结果表明:理论计算值与虚拟样机仿真得到的结果较为接近,其相对误差均没有超过15%,满足工程实践的要求,进而验证了理论模型的正确性。该研究成果可为全地形铰接式履带车辆的结构设计和优化以及俯仰液压缸的选型等问题提供理论依据。To accurately solve the kinematic and mechanical parameters of the all terrain articulated tracked vehicle in the process of pitching movement, mathematical modeling method is adopted to establish the kinematic and mechanical models of the vehicle in pitching movement. The theoretical formulas of the maximum pitching angles, the maximum pitching heights, the motion trail radii of the centers of gravity of the front and rear vehicles, and the maximum pulling force of the articulated units are derived. Then, taking a specific articulated tracked vehicle as an example, the formulas are numerically solved. Finally, a virtual prototype of the articulated tracked vehicle is adopted to verify the theoretical models. It is shown that the theoretical and simulation results are in good agreement, the relative errors between the theoretical and simulation results do not exceed 15%. This error range meets the requirements of engineering practice. The results of this research work can provide a theoretical basis for designing and optimizing the structure of all terrain articulated tracked vehicles, and selecting the type of the pitching hydraulic cylinders.

关 键 词：机械工程 全地形铰接式履带车辆 俯仰运动 运动学模型 力学模型 虚拟样机技术 

分 类 号：TH113[机械工程—机械设计及理论]