多自由度铰接结构设计与计算

Design and calculation Multi-DOF articulated system

多自由度铰接利用液压油缸助力车辆的转向和俯仰功能,用于改善双车体车辆的行驶和通过性能,以适应野外复杂的工作环境。本文介绍了多自由度铰接的基本结构,以小型履带设备为例对车辆和铰接进行了受力分析,并根据履带车的转向原理建立了数学模型计算转向力矩。转向助力由左右两个油缸提供,绘制转向几何模型和建立数学模型计算油缸长度和行程。通过转向的受力计算和几何计算为结构选取适合的油缸,同时也为整个铰接结构设计提供了可靠的理论基础。

With good dynamical steering and elevation multi-DOF articulated system improves traffic ability of vehicles to adapt to complex working conditions in the particular terrain.The structure of the multi-DOF articulated system is displayed in the article.The analysis on loads and boundary conditions is carried out and a set of mathematical models are established to acquire steering torques.Steering forces are supplied by two hydro-cylinders,whose length and stroke are calculated based on geometric models and mathematical models.All calculations provide theoretical references for the structural optimization of the multi-DOF articulated system.