摘要
橡胶履带式行走机构越障特性检测对行走机构越障的研究具有重要意义,针对当前方法越障耗时长,导致履带式行走机构特性检测的准确性差、效率低的问题,提出基于RecurDyn的橡胶履带式行走机构越障特性检测方法,利用履带式行走机构的机体长度等条件计算越障高度,在此基础上,对行走机构越障特性的动力学展开研究,利用橡胶履带的长度、重力加速度等条件计算履带式行走机构越障的支段拉力,并根据转向阻力系数和滚动阻力系数计算橡胶履带式行走机构单边履带在越障时的牵引力,得到胶履带式行走机构的中心间距,分析行走机构自由支段牵引力和拉力之间的关系,利用履带式行走机构驱动链轮的线速度以及转动效率计算单边履带的驱动力矩和输入功率,获得行走机构越障时的旋转角速度,最终结合越障高度的计算结果,实现了橡胶履带式行走机构越障特性检测。实验结果表明,所提方法在对行走机构越障特性检测研究时,准确性较好,并且越障耗时较短,具有较高的检测效率。
This article puts forward a detection method for obstacle crossing character of running gear with rubber caterpillar type based on RecurDyn.Firstly,our research used conditions such as length of the running gear to calculate height of obstacle crossing and studied kinetics of the obstacle crossing character based on that.Then,the research calculated branch segment tension of the running gear during obstacle crossing via length of rubber caterpillar band and gravitational acceleration and calculated traction force of unilateral caterpillar band during the obstacle crossing according to turn resistance coefficient and rolling resistance coefficient.Center space of the running gear was obtained and relation between traction force and tension of free branch segment was analyzed.Driving moment and input power of unilateral caterpillar band was calculated via linear velocity and rotation efficiency of driving sprocket and rate of angular motion of the running gear was obtained.Finally,integrated with calculation result of height of obstacle crossing,we achieved the detection of obstacle crossing character.Simulation results show that the proposed method has high accuracy and shot time consuming.It has high detection efficiency.
作者
谢宝玲
XIE Bao-ling(Shenyang University of Technology School of Chemical Equipment,Liaoning Liaoyang 111003,China)
出处
《计算机仿真》
北大核心
2019年第3期61-64,91,共5页
Computer Simulation
关键词
橡胶履带式
行走机构
越障特性检测
Rubber caterpillar
Running gear
Obstacle crossing character detection
