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    韩东涛, 刘晋浩, 王典, 李大维. 一种林用主动步态底盘双缸轮腿越障及位置优化研究[J]. 北京林业大学学报, 2018, 40(6): 117-124. DOI: 10.13332/j.1000-1522.20180092
    引用本文: 韩东涛, 刘晋浩, 王典, 李大维. 一种林用主动步态底盘双缸轮腿越障及位置优化研究[J]. 北京林业大学学报, 2018, 40(6): 117-124. DOI: 10.13332/j.1000-1522.20180092
    Han Dongtao, Liu Jinhao, Wang Dian, Li Dawei. Optimization on the obstacle crossing ability and position of a forestry chassis with double-cylinder wheeled-legs[J]. Journal of Beijing Forestry University, 2018, 40(6): 117-124. DOI: 10.13332/j.1000-1522.20180092
    Citation: Han Dongtao, Liu Jinhao, Wang Dian, Li Dawei. Optimization on the obstacle crossing ability and position of a forestry chassis with double-cylinder wheeled-legs[J]. Journal of Beijing Forestry University, 2018, 40(6): 117-124. DOI: 10.13332/j.1000-1522.20180092

    一种林用主动步态底盘双缸轮腿越障及位置优化研究

    Optimization on the obstacle crossing ability and position of a forestry chassis with double-cylinder wheeled-legs

    • 摘要:
      目的底盘是林业装备的关键部件,底盘技术性能中的越障性能及地形适应性能尤为关键,直接决定了林业装备是否能够上山入林。我国典型人工林具有多矮小障碍、多沟壑等立地条件特点,传统林业装备底盘在复杂立地条件下作业的能力就凸显不足,因此本研究旨在提高林业装备底盘越障性能。
      方法针对一种林用新型步态六轮变幅轮腿底盘,运用D-H参数法对底盘轮腿机构建立运动学模型。通过空间几何位置坐标变换方法对变幅轮腿底盘单缸控制轮腿与双缸控制轮腿越障能力进行理论计算和分析比较。运用D-H运动学正解方法计算得出双缸的最佳布置位置参数。通过仿真测试、样机测试与理论分析进行对比研究。
      结果双缸控制轮腿机构的越障高度始终大于单缸控制轮腿机构。理论分析、仿真分析与样机测试在最大越障高度数值的切合度分别为99.7%和97.8%。底盘轮腿越障高度可达285.9mm, 具有较强的越障性能和地形适应性,其越障能力完全满足我国林业生产对林业装备底盘越障性能的要求,充分验证了理论研究方法的正确性。
      结论为解决我国林业装备底盘越障性能较差这一难题提供了新的思路,为双缸控制轮腿机构运动特性、变幅轮腿底盘越障性能及大规模林业机械智能化采伐底盘的研究和发展应用提供了理论依据。

       

      Abstract:
      ObjectiveThe obstacle crossing performance and adaptability to different terrain are most important factors for the technical characteristics of the chassis that is the key part of forestry equipment, also they are the key reasons to decide whether the forestry equipment could work in the forest. Since the typical plantations in our country have many short obstacles and gullies, the obstacle crossing performance and adaptability of traditional chassis are not good enough to work in the complex terrain.
      MethodFor improving the obstacle crossing performance, a method based on D-H theory was used to establish a kinematics model for a new type of six-wheeled-leg forestry chassis with levelling initiative gait. By space geometry coordinates transformation method, single-cylinder wheeled-legs mechanism was compared with double-cylinder wheeled-legs mechanism in obstacle crossing ability.
      ResultIt was concluded that the obstacle crossing ability of double-cylinder wheeled-legs mechanism was always greater than single-cylinder wheeled-legs mechanism. The optimum arrangement of double-cylinder position was achieved with the D-H kinematics solution method. In contrast to prototype test, the highest obstacle crossing numerical similarities of theory analysis and simulation were 99.7% and 97.8%, respectively. The obstacle crossing height of wheeled-legs of chassis was much better than before, and could reach 285.9mm. So it is completely suitable for the application in the field of forestry and a typical unknown terrain. The correctness of the theoretical research method was validated.
      ConclusionThis paper provides theory basis for the research on the double-cylinder wheeled-legs mechanism motion characteristics, the obstacle crossing ability of chassis, and the large-scale development and application of intelligent forestry mechanical chassis.

       

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