卡特R型履带车辆差速转向机构之运动与力矩分析

主要目的是针对卡特R型履带车辆差速转向机构的运动与力矩特性进行系统化的分析,以做为履带车辆差速转向机构的设计参考。首先,以图论为基础,定义运动图表示卡特R型履带车辆差速转向机构的运动构造;然后,根据基本回路理论,由运动图推导其系统运动方程式,并由所得的系统运动方程式分析差速转向机构的运动特性;接着,根据力平衡原理、能量守恒原理及基本回路理论,由运动图推导差速转向机构的系统作用力矩方程式,发展履带车辆差速转向机构的力矩分析方法;最后,讨论了履带车辆差速转向机构传动比与力矩关系。本文所得的结果可做为相关产业设计履带车辆差速转向机构之参考。

Kinematic and Static Analysis of a Differential Steering for Carter R- Type Tracked Vehicles

The differential steering of Carter R - type tracked vehicles uses a set of planetary gear train, and this paper presents a systematic methodology for the analysis of the kinematics and static of this kind of differential steering. Based on the graph theory, a graph representation is proposed to represent the kinematic structure of the differential steering efficiently. New graph representation and the concepts of fundamental circuit theory are used to develop this systematic method. The torque equations and the speed equations of the differential steering are formulated with the concepts of fundamental circuit theory. Then, an algorithm is further developed for the kinematic and static analysis of the differential steering of the Carter R - type tracked vehicle. The results of the paper provide a powerful tool for the systematic and automatic analysis of the differential steering of the Carter R - type tracked vehicles.