轮式摆动车身车辆越障所需最小驱动力矩及影响因素

Minimum driving torque of climbing obstacle with wheeled vehicle of oscillating body and its influential factors

建立了轮式摆动车身车辆越障时的动力学模型。根据这类车辆的结构特点,以单侧车轮越障为例,分析了车辆的运动状态,给出了越障所需的驱动力矩,同时分析了重心位置对越障所需驱动力矩的影响。利用ADAMS对车辆越障进行仿真,证明了所提方法的正确性。

The paper gives dynamic equations of climbing over obstacles, judging standard of climbing over obstacles capability was proposed based on dynamic equations. State motion of vehicle is analyzed based on climbing over obstacles by single front wheel, driving torque of climbing obstacle was obtained~ and its influential factors gravity allocation was analyzed. Finally, the simulation analysis gives conclusion the theory inference result is correct.