高通过性变形轮行走机构的模态分析

针对无人地面车辆对行走机构的要求,探讨了一种新型的变形轮行走机构,该行走机构兼有轮式行走机构的高速性和履带式行走机构的高通过性的特点.在阐述机构工作原理与特点基础之上,重点分析了变形轮圈的模态振型和模态频率,并对行走机构进行了阻尼匹配分析.结果表明:变形轮圈的振动不会引起车身共振,路面激励可以引起变形轮圈的共振,通过增加阻尼元件,可以减弱因路面激励引起的振动.

Modal Analysis on Deformable Wheel Mobile Mechanism with High Trafficability

Based on the requirement of UGV for the mobile mechanism is proposed. It combines wheeled running system, a new design of deformable wheel vehicle and tracked vehicle advantages, which can run at high speed and high crossing ability. After illuminating the characteristics of the mobile mechanism and its working principle, the modal of the deformable wheel rim is analyzed. Then damping matching to vehicle suspension is developed. The results show that resonance of the body will not occur, but uneven road can cause vibration of deformable wheel. The vibration can be settled by using chock absorber.