双8轨迹自动行进越障小车试验研究

Experimental Study on Double 8-shaped Track Automatic Travel Obstacle-surmounting Trolley

越障小车是以重力势能为驱动,运行双8轨迹,连续绕过障碍桩的三轮小车。根据小车的基本结构,针对各组成模块进行设计,提出槽轮机构与曲柄滑块作为转向控制机构的双8轨迹越障小车。调节导轨的长度及导轨离转向前轮的距离,实现前轮偏角及4次转向时间间隔调节,得到不同小车双8字轨迹的形状,确定轨迹行驶的最优参数。最后,制作小车实物模型,验证了调试结果的可行性,为小车研究奠定了理论依据。

The obstacle surmounting trolley is a three-wheeled trolley that can run on a double 8-shaped track to continuously bypass the obstacle pile,driven by gravitational potential energy.According to the basic structure of the trolley and the design of each component module was designed,the double 8-shaped track obstacle surmounting trolley with a ratchet mechanism and a crank-slider as its steering control mechanism was proposed.By adjusting the length of the guide rail and the distance between the guide rail and the front steering wheel,the adjustment of the front wheel deflection angle and the time interval of 4 turns could be realized,with the shapes of the double 8-shaped tracks of different trolleys obtained,the optimal parameters of driving on such tracks determined.Finally,the physical model of the trolley was made,and the feasibility of the debugging results was verified,providing a theoretical basis for the study of on trolleys.