八轮四摆臂无人机动平台越障性能分析与试验

Investigation on Obstacle-surmount Performance for Eight-wheel Unmanned Ground Vehicle with Four Swing Arms

针对南方山区丘陵地带地形复杂、传统农田运输车辆通过性不足的问题,提出并设计了一种具有仿生液压驱动摆臂机构的八轮无人机动平台,其车体姿态可通过四摆臂协同动作进行调节,以适应不同形式地面障碍。越障性能是制约平台通过性的根本因素,建立了无人平台姿态规划模型和关键越障过程动力学模型,得到无人平台在典型垂直障碍的越障性能。为验证理论分析,在ADAMS建立了二次开发仿真平台,并进行了样机动力性试验。研究表明,八轮四摆臂无人机动平台可攀爬高度为轮胎直径1. 13倍的垂直障碍,具有良好的复杂地面环境通过能力,可满足丘陵地带农用运输车辆在复杂农田地形的行走需求。

Aiming at the complexity of terrain in the hilly area of Southern China and the lack of traffic ability of traditional farmland transportation vehicles, an eight-wheel unmanned ground vehicle with bionic hydraulic swing arm mechanism was proposed and designed. The vehicle was driven by hydraulic motor, controlled by line of sight remote and steers by slipping. The posture of the vehicle can be adjusted by four swing arms to adjust to accommodate different forms of ground barriers. The obstacle-surmount performance was the fundamental factor that restricted the adoption of the platform. So the unmanned vehicle attitude planning model and the obstacle-surmount dynamics model were established, and the barrier performance of the unmanned platform in the typical vertical obstacle was obtained. In order to verify the theoretical analysis, a secondary development simulation platform was established in ADAMS, and a prototype experiment on dynamics was carried out. The research result showed that the eight-wheel four-arm unmanned ground vehicle can climb vertical wall with height of 1.13 times the diameter of the tire by the posture planning and dynamics performance, and had a good ability to pass through the complex ground environment to meet the walking demand of agricultural transport vehicles in the hilly terrain in complex farmland terrain.