Analysis of wheel-leg composite excavators'ability to cross obstacles
To enhance the obstacle-crossing capability of wheel-leg composite excavators in complex terrains,an obstacle-crossing ability analysis method based on the centroid calculation formula and stability judgment conditions was proposed.This method maked an in-depth analysis of the relationship between the position of the center of mass and the equilibrium state in the process of the excavator's obstacle crossing,and thereby determines its limit value of obstacle-crossing ability.Firstly,a virtual prototype was constructed.The motion model and schematic diagram thereof were established,and the motion trajectories of the robotic arm and legs were obtained.Secondly,the obstacle-crossing process on steep slopes and vertical obstacles was analyzed.The results indicated that the maximum slope angle for longitudinal climbing was 34.62°,and the maximum height of vertical obstacle that could be climb was 2 235.81 mm.Finally,a prototype test was conducted by combining theoretical calculations with the practical application working environment.It was confirmed that the prototype can successfully pass a 30° slope and a vertical barrier of 1 800 mm,which preliminarily validates the rationality of the theoretical analysis.The results demonstrated that the wheel-leg compound excavator exhibits excellent obstacle-crossing ability and had better adaptability to complex terrains compared to traditional mobile excavators.This provides strong support for subsequent optimization and control research.
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