一种轻型履带式移动平台运动性能仿真分析

Simulation Analysis of Motion Performance of a Light Crawler Mobile Platform

由于传统履带式移动平台在转向行驶中地面对履带板的磨损严重、转向可控性差、转向效率低等缺点,在传统履带的基础上,设想出一种轻型履带式平台,在履带板上增加可以自由滚动的小辊轮,可以将履带与地面产生的滑动摩擦力一部分转变为小辊轮滚动摩擦力,以此减少履带板的摩擦损耗。将辊轮锁死可以等效为传统履带,与辊轮自由转动情况下二者进行对比分析。利用Solidworks软件建立平台样机三维模型,对上述两种情况进行仿真实验并对比研究。仿真结果表明,同等情况下该轻型履带式移动平台与传统履带式移动平台相比,直线行驶时动力学性能基本相同,转向行驶时效率提升了66.67%。因此该轻型履带式移动平台拥有与传统平台同等的直行行驶能力,同时改善了传统平台的转向性能。

Due to the serious wear,poor steering controllability and low steering efficiency of the traditional tracked mobile platform in the steering of the track,a light crawler platform is envisaged on the basis of traditional caterpillar track,and a small roller can be rolled freely on the Caterpillar board,and the slipping of the caterpillar and the ground can be slid.Friction is partly transformed into small roller rolling friction,thereby reducing the friction loss of track plate.The roller lock can be equivalent to the traditional crawler,and the two wheels are compared with the roller wheel free rotation.The 3D model of the platform prototype is established by Solidworks software,and the simulation and comparison of the above two situations are carried out.The simulation results show that,compared with the traditional tracked platform,the dynamic performance of the light crawler platform is basically the same as that of the traditional tracked mobile platform,and the efficiency of the steering driving is up to 66.67%.Therefore,the light crawler mobile platform has the same straight running capability as the traditional platform,and at the same time improves the steering performance of the traditional platform.