丘陵山地两段式履带行走机构的设计与试验

Design and Test of Two-stage Crawler Walking Mechanism inHilly and Mountainous Areas

针对两段式履带运动机构在丘陵山地等复杂环境下的运行工况,以优化运动姿态和设立控制策略为目标,借助多体动力学仿真软件RecurDyn-Track_LM建立了仿真模型。通过分析前后段履带质心垂向位移和频率变化,验证了仿真模型的正确性;通过分析整车的行驶跑偏、连续爬坡、跨障这3个重要能力,描述了两段式履带机构的运动情况、姿态改变及危险工况。研究结果亦可作为评价该类履带车运动性能和行驶可靠性的参考依据。

Aiming at the operating conditions of the two-stage crawler motion mechanism in complex environments such as hills and mountains,a simulation model was established with the help of multi-body dynamics simulation software RecurDyn-Track_LM with the aim of optimizing the motion posture and setting up control strategies.The correctness of the simulation model is verified by analyzing the vertical displacement and frequency change of the center of mass of the front and rear crawler tracks;by analyzing the three important abilities of the vehicle's running deviation,continuous climbing,and obstacle crossing,the performance of the two-stage crawler mechanism is described.The movement,posture changes and dangerous working conditions of the crawler mechanism.This research can also be used as a reference basis for evaluating the sports performance and driving reliability of this type of tracked vehicle.