基于变位齿轮的轮履复合变形轮结构设计与越障能力分析  

Structure design and analysis on obstacle-crossing capability of wheel-shoe compound deformation wheel based on displacement gear

作　　者：芮宏斌[1] 曹伟 李路路 RUI Hong-bin;CAO Wei;LI Lu-lu(School of Mechanical and Precision Instrument Engineering,Xi’an University of Technology,Xi’an 710048)

机构地区：[1]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《机械设计》2022年第7期74-83,共10页Journal of Machine Design

基　　金：国家自然科学基金面上项目(51775432);陕西省技术创新引导专项(2018ZKC-160)。

摘　　要：针对复杂地面约束的特点,结合履带车辆与轮式车辆各自的运动特点与优势,提出了一种可在轮式与履带式之间相互转化的新型轮履复合变形车轮结构方案。该变形轮可根据不同的地面特点,通过自我形态的改变以实现轮式与履带式之间的切换。分析了轮履复合车轮的工作原理,应用数学推导对各构件进行参数化建模,并利用遗传算法,求解出变形轮各构件的参数对履带长度的相对变化量影响的最优解。对搭载了此变形轮的底盘在不同运动模式下的越障性能进行理论分析,结果表明与轮式运动模式对比履带式运动模式的越障性能更加优越。同时利用多体动力学分析软件ADAMS对机构参数的合理性进行检验;并进一步对轮履复合底盘车辆在坡路、壕沟及台阶等障碍路面进行了仿真分析,检验了其越障性能。仿真结果表明该轮履复合车轮可以通过自我形态的变化来实现履带式与轮式的转化,同时具备高的机动性与高的越障性。In this article,in view of the characteristics of complex ground constraints and combined with the respective motion characteristics and advantages of crawler and wheeled vehicles,a new scheme of wheel-shoe compound deformation wheel which is converted between the wheeled and tracked vehicles is proposed.According to the different ground characteristics,the deformation wheel can change its self-shape to realize the switch between the wheel type and the caterpillar type.The working principle of the wheel-shoe compound wheel is analyzed,the parametric modeling of each component is carried out by means of mathematical derivation,and the genetic algorithm is used to solve the optimal solution of the influence of the parameters of each component on the relative variation of track length.The obstacle-crossing capability of the chassis equipped with the deformation wheel under different motion modes is explored theoretically,and the results show that the obstacle-crossing capability of the crawler motion mode is better than that of the wheel motion mode.At the same time,the multi-body dynamics software ADAMS is adopted to verify the rationality of mechanism parameters.Furthermore,the simulated analysis is carried out on the obstacle roads such as slope and trench,and the obstacle-crossing capability is tested.The results show that the compound wheel can realize the conversion of track type and wheel type through the change of self form,and has desirable maneuverability and high obstacle-crossing capability.

关 键 词：轮履复合 参数化建模 遗传算法 多体动力学 越障性能 

分 类 号：TH122[机械工程—机械设计及理论]