摘要
针对于目前丘陵山区等复杂地形设计了一种利用传统拖拉机改制的带有平衡摇臂悬架的路面自适应四驱移动底盘;首先介绍了移动底盘整体的设计思路与底盘构成;然后,对平衡摇臂悬架结构组成进行介绍,通过分析平衡摇臂悬架的运动学原理和理论计算,得到移动底盘在稳定状态下的单侧越障最大理论高度;最后,对此结构的移动底盘与传统拖拉机底盘进行单侧越障稳定性仿真分析对比,证明了此移动底盘具有良好的越障稳定性,满足丘陵山区的使用要求。
In view of the complex terrain such as hills and mountains,a road-adaptive four-wheel mobile chassis with balance rocker suspension,which is reformed by traditional tractor,is designed.First,the overall design idea and chassis structure of mobile chassis is introduced.Through the analysis of the kinematic principle and theoretical calculation of the balanced rocker suspension,the maximum theoretical height of single-side obstacle crossing of the mobile chassis in stable state is obtained.Finally,the simulation analysis and comparison between the mobile chassis and the traditional tractor chassis show that the mobile chassis has good stability of obstacle crossing and can meet the requirements of usage in hilly areas.
作者
蒋立
解晓琳
莫秋云
廖智强
Jiang Li;Xie Xiaolin;Mo Qiuyun;Liao Zhiqiang(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin City,Guangxi Zhuang Autonomous Region 541004,China;College of Agricultural Equipment Engineering,Henan University of Science and Technology,Luoyang City,Henan Province 471023,China)
出处
《农业装备与车辆工程》
2020年第11期14-18,28,共6页
Agricultural Equipment & Vehicle Engineering
基金
2019年度河南省高等学校重点科研项目“面向复杂地形的农林机器人越障机理及机构优化研究”(19B416002)。
关键词
平衡摇臂悬架
四驱移动底盘
运动学原理
单侧越障
balance rocker suspension
four-wheel movable chassis
principle of kinematics
one-side obstacle surmounting
