路轨两用车底盘行走系统转换机构运动学建模

Kinematic Model of Walking System Conversion Mechanism of Roadtrack Convertible Vehicle Chassis

为了解路轨两用车底盘行走系统转换机构的运动学特性,研究各个构件之间的运动关系及运动状态,建立其运动学模型:创建简化机构的数学模型,应用复数矢量法,建立转换机构的位置、速度及加速度方程;利用MATLAB软件进行理论关系曲线的求解,并对得到的曲线进行数值分析。研究结果表明:轨道轮下落过程无较大的冲击,结构设计合理,液压缸设计速度可行。研究结果为行走系统转换机构的分析与研究奠定了理论基础,也为后续的生产实践提供了技术支持和理论依据。

In order to understand the kinematics characteristics of the walking system conversion mechanism of road-track convertible vehicle chassis, and study the motion relationship and movement state between the various components, the kinematic model was built： the mathematical model of simplified mechanism was built, position, velocity and acceleration equation was built by using complex vector method. The theoretical relation curve was solved and numerically analyzed in MATLAB. The research shows that there is no big impact in the landing process of track wheel, the design of structure is reasonable, and the design of hydraulic cylinder＇s velocity is practicable. The research results laid the theoretical foundation for the analysis and research of the walking system conversion mechanism, and provided the technical support and theoretical basis for the follow-up production practice.