电驱动差速转向轮式水陆两栖车辆可收放悬架机构运动学分析与参数优化

为了有效减小车辆在水中的形状阻力，需要将轮式两栖车的轮子提升到水线以上。针对该需求提出了一种水陆两栖车可收放悬架方案。对两栖车收放悬架进行运动学分析，得到了其运动规律；制定了悬架参数优化策略，以提高悬架在水中的收放高度，改善陆地的行驶特性；在多体动力学软件ADAMS/Insight中设计了参数优化实验，通过分析参数灵敏度确定优化变量，根据所选的优化变量，分别以行走机构收放高度、翻转角度、外倾角以及主销内倾角等参数为优化目标进行优化设计。研究结果表明，车辆行走机构收放过程和运动学特性的优化效果明显，在保障陆上性能的同时大幅减小了水上航行阻力。

Kinematic Analysis and Optimization of Key Parameters of Suspension for Electric Differential Steering Wheeled Amphibious Vehicle

In order to reduce the shape resistance of vehicles in water, it is necessary to raise the wheels of amphibious vehicles above the water line. A retractable suspension scheme for amphibious vehicles is proposed. Kinematics analysis is carried out to obtain the movement law of retractable suspension for vehicle. The optimization of suspension parameters is formulated to improve the retractable height of suspension. In the multi-body dynamics software ADAMS/Insight, the parameter optimization experiments are designed, and the optimization variables are determined by analyzing the sensitivity of parameters. According to the selected optimization variables, the optimization objectives are used to optimize the traveling mechanism, such as the receiving and unloading height, the turning angle, the camber angle and the kingpin inclination angle. The results show that the optimization effects of the retracting process and kinematics characteristics of the traveling mechanism are obvious, and the navigation resistance on water is greatly reduced while the land performance is guaranteed.