Climbing ability analysis of 4-tracked serial walking mechanism
A 4-tracked serial walking mechanism was proposed aiming at the limitation of common double tracked vehicle continuous vertical obstacle climbing ability.The tracks were controlled by a pair of synchronous hydraulic cylinders.The two hinged crawlers in the same side could make relative rotation so that the whole mechanism could climb a certain height of continuous vertical obstacle.The dynamic analysis and simulation were performed on the common tracked and 4-tracked serial walking mechanism using multi-body dynamics analysis software.The results showed that driving torque,bushing tension in 4-tracked serial walking mechanism was much better which in double tracked mechanism.The impact load of hydraulic drive motor in adapted 4-tracked serial walking mechanism was small.The gradient of 4-tracked vehicle was lower when climbing the same height of the obstacle,which was more comfortable to drive.
4-tracked serial mechanismvirtual prototypevertical obstacledriving torque
NETL
NSTL
万方数据
维普
