摘要
针对提升轮式移动底盘越障能力的同时会增大结构复杂程度的问题,文中提出一种相对简单的摆臂轮式移动底盘结构方案,通过两侧摆臂绕中间传动轴的转动,底盘在一定程度内可实现地面自适应,有效提升了底盘越障性能。从几何角度分析了底盘在自适应条件下所能通过的障碍物高度与机械限位间的关系,并用ADAMS软件对所设计结构进行仿真,对比分析了摆臂式底盘相比于普通底盘在单侧越障中的优越性能。搭建了摆臂式底盘样机并进行单侧越障测试,测试结果表明所提出结构原理正确可行,对底盘越障性能有良好的提升效果。
Since the improvement of the wheeled mobile chassis’s obstacle-surmounting ability will cause structural complexity,in this article a relatively-simple structure scheme of the swing-arm wheeled mobile chassis is proposed.The chassis realizes ground adaptation to certain extent with rotation of the swing arms on both sides around the middle transmission shaft,which effectively improves the obstacle-surmounting performance.The relationship between the height of the obstacle that the chassis can pass under the adaptive condition and the mechanical limit is explored from the geometric point of view.The superior performance of the swing-arm chassis is compared with that of the ordinary chassis in one-side obstacle surmounting,according to the results obtained from ADAMS simulation.A prototype of the swing-arm chassis is set up and tested.The results show that the structure principle which is correct and feasible has a good effect on improving the obstacle-surmounting performance of chassis.
作者
芮宏斌
张森
黄川
解晓琳
曹伟
李路路
RUI Hong-bin;ZHANG Sen;HUANG Chuan;XIE Xiao-lin;CAO Wei;LI Lu-lu(School of Mechanical and Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048;School of Transportation Science and Engineering,Beihang University,Beijing 100191;College of Agricultural Equipment Engineering,Henan University of Science and Technology,Luoyang 471000)
出处
《机械设计》
CSCD
北大核心
2022年第12期24-30,共7页
Journal of Machine Design
基金
国家自然科学基金青年科学基金项目(51905154)
陕西省技术创新引导专项(2018ZKC-160)。
关键词
摆臂式底盘
地面自适应
越障性能
ADAMS仿真
swing-arm chassis
ground adaptation
obstacle-surmounting performance
ADAMS simulation
