新型复合转向机构驱动油缸铰点优化设计

Optimization design for location of driving cylinder hinge in a new oscillating combined steering mechanism

阐述了一种新型摆动式复合转向机构,针对转向机构的驱动油缸铰点位置设计问题;利用Denavit-Hatenberg齐次变换矩阵建立了该转向机构的运动学模型;提出了确定复合式转向机构驱动油缸铰点位置的多目标优化设计方法;结合工程实例,对转向驱动油缸的铰点进行了优化设计。样车试验表明了该方法的合理性,并对转向驱动油缸行程的非对称特性、转向机构的对称性、摆动角与偏转角特性以及转向机构的平顺性进行了分析,为该机构的工程应用提供了理论基础。

A new oscillating combined steering mechanism der hinge location design for the steering mechanism, the was introduced. In view of the driving oil cylin- kinematics model of the steering mechanism was constructed using Denavit-Hatenberg homogeneous transformed matrix. The multiobjective optimization method for designing the location of the driving oil cylinder hinge was proposed. The optimized result is proved reasonable by prototype test. Some characters of the steering mechanism, such as the asymmetry of the steering driving oil cylinder control, the characters of the pivot angle and the deflection angle, the steering smoothness, and the symmetrical distribution were analysed. The research results can provide theoretical basis for the steering mechanism design and the engineering application.