林用轮-履复合底盘变形机构参数分析

Parametric analysis for deformation mechanism of a transformable wheel-track chasis

针对轮式底盘与履带底盘在森林作业应用中的优势及局限性,提出一种的既拥有履带式的爬坡和越障能力又可实现轮式快速灵活的轮-履可变换底盘。该底盘可根据当前行使的地形条件,通过变形机构主动实现履带式行走模式和车轮与虚拟轮配合的轮式行走模式之间的切换。根据林地作业要求、设计要求和变换前后履带几何形状和长度变化等特点,运用数学推导对各杆件进行参数化建模,利用MatLab遗传算法对参数进行优化,得出全局最优解,最后利用多刚体动力学软件对机构参数的合理性进行验算,为林用轮-履复合可变换底盘的机构设计及参数确定提供参考依据。

According to advantages and disadvantages of wheeled chassis and crawler chassis in the forest,we proposed a transformable wheel-track chasis which is able to switch between the track waking mode and the wheel walking mode with wheels and virtual wheels by the deformation mechanism on the basis of the current working condition. According to requirement and length and geometry changing of track, using mathematical deduction for parametric modeling of all components, optimizing parameters by using MATLAB genetic algorithm to obtain the universal optimal solution and inspect the rationality of mechanism parameters in line with a simulation software.And the data obtained by the simulation, it can lay a foundation for the optimization of forest transformable wheel-track chassis in the future.