6×6无人地面车辆越障能力分析

Analysis of Climbing Obstacle Capability of 6 × 6 Unmanned Ground Vehicle

为研究6×6无人地面车辆的越障性能，通过建立力学模型，分析不同参数以及不同摆臂主动力矩对无人地面车辆越障性能的影响。结果表明，纵向摆臂式悬架结构可以大幅提高无人地面车辆的越障能力，并且随着前轮抬起量的增加，无人地面车辆跨越垂直障碍高度呈线性增长；在附着系数较小的情况下，其对车辆越障能力的影响较大，随着附着系数的不断增大，越障高度的增幅逐渐减小；无人地面车辆重心到摆臂铰接点连线的距离越小，中间轮越障高度越高，并且在同一附着系数条件下，中间轮越障高度大于前轮越障高度。

In order to study the climbing obstacle ability of Unmanned Ground Vehicle with longitudinal manipulator leg, by building the mechanical model, the effect of the different parameters and different swing arm active torque working on the obstacle-crossing performance of unmanned ground vehicles is analyzed. And the results show that the longitudinal manipu- lator leg-suspension structure can significantly improve the climbing obstacle ability of Unmanned Ground Vehicle. With the increase of the amount of the front wheel lift , the height of unmanned ground vehicle across vertical obstacle is linear growth ; in the case of smaller adhesion coefficient , it greater impacts the climbing obstacle capability of vehicles , continues with the adhesion coefficient increased, the height increase gradually reduced. The smaller distance of centroid and arm hinge point, the higher the barrier height of the middle wheel climbed. And under the condition of the same adhesion coefficient, the height of the middle wheel climbed is greater than the front wheel .