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    赵可, 刘晋浩, 黄青青, 孙浩, 王典. 林业并联式铰接底盘优化设计与越障性能仿真分析[J]. 北京林业大学学报, 2018, 40(10): 131-140. DOI: 10.13332/j.1000-1522.20180179
    引用本文: 赵可, 刘晋浩, 黄青青, 孙浩, 王典. 林业并联式铰接底盘优化设计与越障性能仿真分析[J]. 北京林业大学学报, 2018, 40(10): 131-140. DOI: 10.13332/j.1000-1522.20180179
    Zhao Ke, Liu Jinhao, Huang Qingqing, Sun Hao, Wang Dian. Optimization design and obstacle-crossing performance analysis of forest parallel articulated chassis[J]. Journal of Beijing Forestry University, 2018, 40(10): 131-140. DOI: 10.13332/j.1000-1522.20180179
    Citation: Zhao Ke, Liu Jinhao, Huang Qingqing, Sun Hao, Wang Dian. Optimization design and obstacle-crossing performance analysis of forest parallel articulated chassis[J]. Journal of Beijing Forestry University, 2018, 40(10): 131-140. DOI: 10.13332/j.1000-1522.20180179

    林业并联式铰接底盘优化设计与越障性能仿真分析

    Optimization design and obstacle-crossing performance analysis of forest parallel articulated chassis

    • 摘要:
      目的林业动力底盘一般在地形复杂多变的环境进行露天作业,故其需要具有良好的地面适应性以及较大且稳定的车轮与地面接触力。我国林区特种车辆底盘研究相对薄弱,而国外林业特种车辆底盘在我国实际运用中具有一定的局限性,因此,研发针对我国山地环境的特种车辆底盘对我国林业发展有重要意义。
      方法根据多自由度并联平台的运动原理和优点,设计一种具有俯仰、转向、侧翻3种相对运动的新型林用铰接机构,并结合Creo Parametric和Adams/View进行参数化建模和运动学优化设计。为了评估该铰接机构的越障性能,对普通底盘和并联式铰接底盘进行爬越斜坡和陡凸越障联合仿真,通过底盘质心高度变化曲线以及车轮与地面的接触力曲线分析并联式铰接底盘的越障性能,并与普通底盘进行对比。
      结果优化设计后的并联式铰接机构转向角和俯仰角最大值增加,并且并联式铰接底盘越障时的车轮与地面的接触力、最大爬坡角度和陡凸越障高度均比普通底盘大。
      结论并联式铰接底盘总体越障性能优于普通刚性连接底盘,该并联式铰接机构适用于林业动力底盘。

       

      Abstract:
      ObjectiveThe forestry power chassis generally makes open-air operation in the complex and changeable terrain, therefore it needs to have good adaptability and large and stable wheel contact force with the ground. In China, the research on special vehicle chassis in forest area is relatively weak, and the foreign forestry special vehicle chassis has certain limitations in practical application.
      MethodIn this paper, we designed a new type of forest hinged mechanism, which is able to pitch, steer and side flip based on the movement principle and advantages of the multi-DOF parallel platform, and incorporate Creo Parametric and Adams/View for modeling and kinematic optimal design to assess the obstacle-navigation performance of the articulated mechanism, make co-simulation of common and parallel hinged chassis climbing slope and crossing obstacle at different obstruction levels. Through the curve of the height of the chassis centroid and the contact force curve of the wheel and the ground, we can analyze the obstacle-crossing performance of parallel articulated chassis and comparing it with common chassis.
      ResultThe maximum steering and pitch angle of the parallel hinged mechanism increased after the optimized design. When the parallel hinged chassis crossed obstacle, its surface adhesion and maximum climbing angle and obstacle height were larger and it can ensure good obstacle-crossing ability within a certain scope of height.
      ConclusionThe parallel hinged chassis obstacle-navigation performance is better than that of ordinary rigid connection chassis, and the parallel hinged mechanism is suitable for forestry power chassis.

       

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