轮腿复合式挖掘机越障潜力研究
Analysis of wheel-leg composite excavators'ability to cross obstacles
彭轩昂 1张大庆 2唐琦军 2程潜 1阳松波1
作者信息
- 1. 湖南农业大学 机电工程学院,湖南 长沙 410128
- 2. 湖南农业大学 机电工程学院,湖南 长沙 410128;山河智能装备股份有限公司,湖南 长沙 410131
- 折叠
摘要
为提升轮腿复合式挖掘机在复杂地形中的越障能力,提出基于质心计算公式与稳定性判定条件的越障能力分析方法.构建虚拟样机,搭建其运动模型及简图,获得机械臂与支腿运动轨迹;分析其在陡坡和垂直障碍的越障过程,结果表明,纵向爬坡最大坡度角为34.62°,可翻越垂直障碍最高高度为2 235.81 mm.结合理论计算与实际应用工作环境进行样机试验,证实样机可顺利通过 30°斜坡及 1 800 mm高的垂直障碍.采用所提方法的轮腿复合式挖掘机越障能力卓越,适应复杂地形的能力优于传统移动方式挖掘机,为后续优化与控制研究提供了技术支撑.
Abstract
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.
关键词
轮腿复合/虚拟样机/运动轨迹/越障能力Key words
wheel-leg composite/virtual prototype/motion trajectory/obstacle-crossing ability引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据