应用稳定性行星轮式越障机构优化设计

Optimization Analysis of the Planetary Wheel Running Mechanism with Overstepping Based on the Stability

行星轮式越障行走机构可应用于矿产开采运输。针对具有4组行星轮系组成的越障机构,机构轮系可根据不同地形状况在定轴和行星轮系之间转换。基于机构的行驶可靠性,采用模糊优化相关理论对行星轮系进行优化,确定机构的最优结构尺寸;建立机构在工作过程中的力学模型和稳定性力学模型。基于ADMAS建立了行星轮式越障机构虚拟样机和典型的地面谱(单边越0.45m障碍、0.45m壕沟、横坡道转向),对优化后不同工况下机构的稳定性进行分析。结果可知:行星轮式越障机构通过驱动轮系在定轴轮系和行星轮系间的转换,实现其越障、跨沟、爬坡等不同工况运行;不同运行工况下,机构的稳定性良好;分析结果为此类结构参数及控制参数确定提供理论基础。

The planetary wheel running mechanism with overstepping is widely used in complex terrain, mining area. To the mechanism of the planetary wheel composed of 4 groups of planetary gear train, with the wheels force from the ground different, the drive train can be turned between the fixed axis gear train and planetary gear train. The mathematical model of the fuzzy reliability for the planetary gear train of the traveling mechanism was developed by the fuzzy reliability optimization design theory, got the optimal structure size of the mechanism. The mechanical models in the working process and stability were built. The virtial prototype of the mechanism and four typical ground spectra was established based on ADMAS, including 30 degree slope, bilateral 0.55m disorder, unilateral 0.45m obstacle and 0.45m ditch. The stability of the mechanism under different conditions was analyzed. The results show that： the planetary wheel mechanism with overstepping through the drive train conversion infixed axis gear and the planetary gear to achieve different working conditions obstacle, cross channel, climbing and so on. Under different operating conditions, the stability of the mechanism is good, and the analysis results provide theoretical basis for the determination of such structure parameters and control parameters.