一种用于全方位履带的辊轮结构优化设计

Optimization in the Design of Rollers Used in Omnidirectional Track

针对全方位履带外侧安装的辊轮对其造成振动影响的问题,对辊轮进行优化设计,并通过设计实例加以验证。通过分析全方位履带基本结构及其产生振动的原因,结合麦克纳姆轮和传统履带的设计原则,提出辊轮整体承重、自由滚动、同角同体和运动连续的优化设计原则和几何约束条件。根据设计步骤,设计了单排、双排和四排三种设计实例。以中心转向运动为例,选择安装单排辊轮的全方位履带作为仿真对象,仿真结果表明安装优化设计后的辊轮能使平台垂直向振动加速度减小28%。验证了提出的辊轮优化设计原则符合履带车辆基本运动规律,优化设计后的辊轮能够明显改善履带振动情况。

Aiming at the problem of omnidirectional track vibration caused by outer-mounted rollers,optimization in the design of rollers was carried,and verified by some examples.By analyzing the basic structure of the omnidirectional track and the causes of its vibration,combined with the design principles of Mecanum wheel and traditional track,the principles of optimal design and geometric constraints were proposed,load-bearing,free-rolling,same volume and same angle,motion continuity.According to the design steps,three examples of single row,double rows and four rows were designed.Taking the center steering motion as an example,the omnidirectional track with single row of rollers was selected as the simulation object,the simulation results show that the rollers after optimization design can reduce the vertical vibration acceleration of the platform by 28%.It can be seen that the principles of rollers’optimal design proposed in this paper accords with the basic motion law of tracked vehicles,and the rollers after optimization design can significantly reduce the track vibration.