中国机械工程2017，Vol.28Issue(15)：1835-1841,7.DOI:10.3969/j.issn.1004-132X.2017.15.011
多适应性轮履复合载物移动系统的设计
Design and Analysis of Wheel-track Composite Loading Locomotion System with High Adaptability
摘要
Abstract
A new type of travel mechanism combined wheel and track was based on different kinds of complex unstructured pavement conditions.The wheel-track composite mechanism was mainly composed of diameter-variable wheel component and crawler system.This structure gave full play to the characteristics of the high efficiency of the wheel structure,and shown the crawler system which enhanced the stability of the whole machine and good adaptability to the ground.Simultaneously,an adaptive loading-lifting platform was designed.In order to achieve the horizontal platform always,the closed-loop control was established to the degree of platform by using Kalman filter algorithm through Gyroscope.A dynamic model was established for verification of climbing stairs performances by using RECURDYN.The results show that this new locomotion system has good adaptability for complex conditions and stability for maintaining loading platform,which has certain reference values for the design of associated transport machinery.关键词
轮履复合机构/变径步行轮/自适应升降平台/载物Key words
wheel-track composite mechanism/diameter-variable wheel/adaptive lifting plat-form/loading分类
信息技术与安全科学引用本文复制引用
王淑坤,曹晓捷,张连青,朱人杰,张博..多适应性轮履复合载物移动系统的设计[J].中国机械工程,2017,28(15):1835-1841,7.基金项目
吉林省科技厅重点科技攻关项目(20150204043GX) （20150204043GX）
