铰接式履带车辆转向特性仿真研究

针对深海富钴结壳行走装置必须适应复杂恶劣地形和较强的越障性能,提出一种具有四个液压缸的主动式联结装置的铰接式履带车辆,通过对铰接式履带车辆进行转向运动学分析,以及对联接装置的转向工作机理进行分析,得出了转向液压缸活塞杆伸长量与车辆理论转向半径的关系,并采用多体动力学仿真软件ADAMS的履带车辆工具箱ATV 建立了铰接式履带车辆的虚拟样机模型,仿真得到了铰接转向角速度,铰接转向半径,铰接转向所耗功率与差速转向所耗功率的关系,仿真结果表明,仿真模型具有较高的精度,能够对转向过程中主要参数随时间的变化历程进行仿真,可以为铰接式履带车辆转向过程的研究提供理论分析根据.

Research on Stationary Turning Performance of Articulated Tracked Vehicles

An articulated tracked vehicle with active joint consisting of four hydraulic cylinders for cobalt-enriching crust mining vehicle was proposed based on the consideration that mining vehicle should be suitable to complex terrain and with high obstacle performance.The mathematical relationship between elongation indicators of hydraulic cylinder and theoretic steering radius was obtained based on turning kinematics and joint's working mechanism analysis.The multi-body dynamic model using ADAMS/ATV of articulated tracked vehicles was also presented in this paper.The angular speed of steering,the turning radius and the relationship between power consumption of articulated tracked vehicles steering and differential steering were obtained.Simulation results showed that the simulation model was highly precise and could simulate the change of the main turning parameters according to the time.This paper can provide a basis for theoretical analysis in studying the steering processes of articulated tracked vehicles.