摘要
针对无人地面车辆的功能和对行走机构的要求,提出了一种变形轮行走机构设计方案.在阐述机构原理与特点的基础上,基于有限元理论,分析了行走机构的关键部件———变形轮圈的弹性特性,并对接地压力进行了仿真分析与计算,最后对演示模型进行了行走试验.结果表明,该设计方案合理、可行,从而为无人地面车辆行走机构技术实施途径和新的行走机理研究打下基础.
According to the function of unmanned ground vehicle（UGV） and the requirements for its running system,a new design of deformable wheel mobile mechanism was proposed.The principle and its special feature were described.The stiffness characteristic of the deformable wheel rim was analyzed using finite element method.Meanwhile,the contact pressure of the deformable wheel rim was calculated by simulation.In the end,the running test using demonstration model was carried out.The results show that the proposed scheme is reasonable and feasible,which would lay the foundations for researching new mobile mechanism and UGV technique.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2012年第1期33-36,共4页
Transactions of Beijing Institute of Technology
基金
国家部委预研项目(63412221314)
关键词
变形轮
行走机构
无人地面车辆
deformable wheel
mobile mechanism
unmanned ground vehicle
