三自由度铰接林用底盘的设计与越障性能分析

The design of forestry chassis with articulated body of three degrees of freedom and analysis of its obstacle surpassing ability

针对一般林业机械动力底盘在丘陵山区行驶、作业时,由于地形适应性差及附着力不足导致车轮打滑,影响整机作业效果等问题,根据多自由度仿形原理,设计一种对地面仿形行走的6轮三自由度铰接林用底盘。通过Solidworks对三自由度铰接林用底盘进行三维建模,并对车辆底盘林地行驶过程中常遇到的爬越斜坡、双轮越障和单轮越障等3种情况进行运动仿真,通过车架的质心变化曲线和车轮与地面之间的作用力分析三自由度铰接林用底盘的越障性能。结果表明:与普通6轮底盘相比,三自由度铰接林用底盘具有良好的地形适应性和通过性,且转向灵活,能够保持良好的附着力,具有更好的越障性能,能够满足在崎岖不平的路面上行驶作业的要求。

Due to poor adaptability to terrain and lack of adhesive force,conventional forestry machinery chasses are prone to wheel-slippage when working in hilly area. Aiming at this problem,a six-wheel driven articulated chassis adopting the principle of profiling terrain was designed with three degrees of freedom（ DF）. A 3D modeling of forestry chassis with 3-DF articulated body was conducted by solidworks,and was simulated dynamically based on ADAMS for slope climbing and obstacle surpassing with one or two wheels. The performance of obstacle crossing for the forestry chassis with 3-DF articulated body was analyzed through the curves of center of mass for frame and the force between wheels and ground. The simulation showed that the chassis with 3-DF articulated body had good adaptability to the terrain,good traffic ability and flexible steering ability compared with conventional six-wheeled chassis. It can provide enough adhesion force and meet requirements for forestry machinery working in rough hilly area.