Abstract
Due to its special topographical structure, the forest working environment requires a vehicle chassis that can adapt well to complex terrain conditions. This article describes the key components of a chassis that was designed to adapt to complex terrain. The working principle and structural design of the steering structure and the lifting structure are analyzed in detail, and function verification is carried out. The steering mechanism has three degrees of freedom, and the first degree of freedom reduces the body’s inclination by 30°. The second degree of freedom can increase the steering angle of the chassis to 47°, decreasing the turning radius of the chassis. The third degree of freedom reduces the body rollover inclination by 30°. The entire steering mechanism enhances the ride and stability of the chassis. With the lifting mechanism, the wheel-legs are lifted so that the chassis can pass a limit height of 187 mm, and the wheel-legs are lowered to raise the center of gravity of the vehicle chassis by 244 mm. The entire lifting mechanism greatly improves the vehicle's ability to cross forest terrain. The size is reduced by 10% compared to other structures, and the lifting height and obstacle resistance are improved by 12.7%.
Highlights
Forestry vehicles used to perform forestry tasks such as logging, exploration, harvesting, and transporting logs have limitations. ese vehicles must move over the rough terrain of the forest [1, 2]
Erefore, it is necessary to develop forestry chassis that adapt to complex terrain conditions [3,4,5]
The structure described in this article has improved in performance and function. e hydraulic cylinder structure size is reduced by 10%, and the lifting height is increased by 12.7%
Summary
Forestry vehicles used to perform forestry tasks such as logging, exploration, harvesting, and transporting logs have limitations. ese vehicles must move over the rough terrain of the forest [1, 2]. Is chassis must have stable motion smoothness, good vehicle steering function, and efficient crossing obstacles ability. In order to adapt to the complex terrain environment and solve the operation problems in the unstructured environment, the wheel-leg hybrid robot becomes the best solution [20]. E wheel-leg structure can complete the three types of obstacle crossing, and the frame always runs horizontally. E wheel-leg robot has good road profile and ability to cross obstacles [23, 24]. E mathematical model is established, the structural function is analyzed, the obstacle form of the variable amplitude wheel-leg in different working environments is determined, and the function is verified. E studies performed by Zhu et al introduced a forestry obstacle chassis, and the main obstacle component is the luffing wheel-leg structure [25, 27]. It avoids the complexity of power mixing and improves energy efficiency
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