复杂路况行走机构的动力学分析
|
摘要
针对目前行走机构遇到复杂路况,尤其是在沼泽等软基路况的问题研制了一款具有显著优势的多路况小型救援运载车。在对救援车的总体结构组成和工作原理做了相关分析的基础上,以粘土力学模型为理论基础,构建了螺旋推进器的数学模型,对关键部件—行走机构进行了受力分析和阻力矩的计算,为运载车的各个零部件的结构尺寸确定、进而实现整机设计奠定了基础。
Aiming at the complex road conditions encountered by the travelling mechanism, especially in the soft subgrade such as swamp, a small relief vehicle with significant advantages was developed. Based on the analysis of the general structure and working principle of the relief vehicle, the mathematical model of the screw propeller is constructed on the basis of clay mechanics model. The analysis of forces and resistance moment calculation of the key component—travelling mechanism are carried out, which lays a foundation for the determination of the structural dimensions of each component of the truck and the design of the whole machine.
Aiming at the complex road conditions encountered by the travelling mechanism, especially in the soft subgrade such as swamp, a small relief vehicle with significant advantages was developed. Based on the analysis of the general structure and working principle of the relief vehicle, the mathematical model of the screw propeller is constructed on the basis of clay mechanics model. The analysis of forces and resistance moment calculation of the key component—travelling mechanism are carried out, which lays a foundation for the determination of the structural dimensions of each component of the truck and the design of the whole machine.
引文
[1]樊启洲,邵耀坚.螺旋滚筒在粘土上推进力的研究[J].拖拉机与农用运输车,1998(4):20-24.
[2]赵玉凡.一种特殊行走机构-螺旋推进器的研究[A].中国农业机械学会.农业机械化与全面建设小康社会-中国农业机械学会成立40周年庆典暨2003年学术年会论文集[C].中国农业机械学会,2003.
[3]吴起亚,项祖训.机耕船船体接地比压的选择[J].江苏大学学报自然科学版,1982(3):13-20.
[4]吴国鑫,刘磊,桑晓磊,等.多功能救援机器人[P].中国专利:CN105945896A,2016-09-21.
[5]郭晓林,刘杰,孙伟,等.螺旋推进器在湿软地面推进力的仿真分析[J].装甲兵工程学院学报,2014,28(3):47-50.
[6]李德龙.全地形双节履带车半主动悬挂装置研究[D].长春:吉林大学,2011(下转第87页)
[7]陈航辉.打造世界一流军队的梦想---细看德三军未来发展动向[J].国防科技,2005(2):48-53.
[8]周志雄.基于设计目录的概念设计自动化研究及其在新产品开发中的应用[D].杭州:浙江大学,2003.
[9]吴昌林,张卫国,姜柳林.机械设计[M].武汉:华中科技大学出版社,2010.
[10]孙恒,陈作模,葛文杰.机械原理[M].北京:高等教育出版社,2005.
[11]Dave P N,Patil J B.Modeling and control of nonlinear unmanned ground all terrain vehicle[C]//International Conference on Trends in Automation,Communications and Computing Technology,IEEE,2015:1-7.
[12]Cherif M.Kinodynamic motion planning for all-terrain wheeled vehicles[C]//IEEE International Conference on Robotics and Automation,1999.Proceedings,IEEE,1999(1):317-322.
[13]Henderson J R,Conrad J M,Pavlich C.Using a CAN bus for control of an All-terrain Vehicle[C]//Southeastcon,IEEE,2014:1-5.
[14]Djohor F,M'Sirdi N K,Naamane A.Wheel-soil interaction model for all-terrain vehicles[C]//International Conference on Communications,Computing and Control Applications,IEEE,2012:1-6.
[2]赵玉凡.一种特殊行走机构-螺旋推进器的研究[A].中国农业机械学会.农业机械化与全面建设小康社会-中国农业机械学会成立40周年庆典暨2003年学术年会论文集[C].中国农业机械学会,2003.
[3]吴起亚,项祖训.机耕船船体接地比压的选择[J].江苏大学学报自然科学版,1982(3):13-20.
[4]吴国鑫,刘磊,桑晓磊,等.多功能救援机器人[P].中国专利:CN105945896A,2016-09-21.
[5]郭晓林,刘杰,孙伟,等.螺旋推进器在湿软地面推进力的仿真分析[J].装甲兵工程学院学报,2014,28(3):47-50.
[6]李德龙.全地形双节履带车半主动悬挂装置研究[D].长春:吉林大学,2011(下转第87页)
[7]陈航辉.打造世界一流军队的梦想---细看德三军未来发展动向[J].国防科技,2005(2):48-53.
[8]周志雄.基于设计目录的概念设计自动化研究及其在新产品开发中的应用[D].杭州:浙江大学,2003.
[9]吴昌林,张卫国,姜柳林.机械设计[M].武汉:华中科技大学出版社,2010.
[10]孙恒,陈作模,葛文杰.机械原理[M].北京:高等教育出版社,2005.
[11]Dave P N,Patil J B.Modeling and control of nonlinear unmanned ground all terrain vehicle[C]//International Conference on Trends in Automation,Communications and Computing Technology,IEEE,2015:1-7.
[12]Cherif M.Kinodynamic motion planning for all-terrain wheeled vehicles[C]//IEEE International Conference on Robotics and Automation,1999.Proceedings,IEEE,1999(1):317-322.
[13]Henderson J R,Conrad J M,Pavlich C.Using a CAN bus for control of an All-terrain Vehicle[C]//Southeastcon,IEEE,2014:1-5.
[14]Djohor F,M'Sirdi N K,Naamane A.Wheel-soil interaction model for all-terrain vehicles[C]//International Conference on Communications,Computing and Control Applications,IEEE,2012:1-6.