应用平面投影和空间运动学进行转向梯形机构分析

Analysis of Turning Mechanism Based on Plane Projection and Spatial Kinematics Methods

转向梯形机构对轮胎磨损、转向力和转向半径都有重要的影响,基于平面投影和空间运动学分析方法,结合矿用汽车整体式转向梯形机构的特点和工作特性进行建模分析,搭建转向梯形机构的平面运动数学模型和包括前轮定位参数、考虑车身侧倾和轮胎侧偏特性在内的空间运动学的数学模型,以转向过程中外侧车轮实际转角与理论转角误差平方和最小为目标函数,应用MATLAB软件完成了转向梯形机构的优化设计,确定了转向机构的设计参数。将蒙特卡罗的方法用于带有加工误差的转向梯形机构的求解,保证了转向过程中转向轮转角的精度。

Steering trapezoid mechanism has important influence on tire wear, turning force and turning radius. The planar projection method and the spatial kinematics method were investigated for analyzing the integral type steering linkage of the mining dump and establishing the planar projection model and the space kinematical model which considered front wheel alignment parameters and body roll and tire cornering. Software MATLAB was used to solve the optimization problem whose majored object function was to minimize the error sum of squares. Mechanisms parameters were determined by the optimization method. The problem of the steering trapezoid mechanism with a pracessing error can be solved by Monte Carlo method which can assure the turning angle precise during turning course.