Abstract
The traditional chassis has the problems of low trafficability and poor stability under complex and changeable unstructured conditions. Thus, a wheel rail composite chassis is proposed. The chassis had a tracked travel mechanism at the front wheels and a wheeled travel mechanism at the rear wheels. This study presents the design, theoretical analysis and dynamic simulation analysis of the chassis. The maximum values of the passability of the wheel–track composite chassis that can be passed were calculated according to the relevant parameters. Furthermore, the chassis was modeled and simulated using RecurDyn to verify whether the values were reasonable. According to different values of the terrain, slope, vertical obstacle height and trench width, the change regularity of the track tension and driving torque of the chassis were obtained. The chassis is designed to improve the vehicle’s ability to operate under complex and diverse unstructured conditions.
Highlights
A single-wheeled travel mechanism is widely used in the traditional motor vehicle chassis system
A wheel–track composite chassis was designed to improve the passability of a vehicle
Combined with the model of the chassis built by RecurDyn, a simulation analysis was carried out to obtain the change in the track tension and driving torque
Summary
A single-wheeled travel mechanism is widely used in the traditional motor vehicle chassis system. In order to solve this problem, a wheel–track composite chassis system was designed, which has two advantages of high mobility of wheel chassis and high passage of track chassis It can improve the environmental adaptability of vehicles and can expand the work scope of vehicles, which can make up for the defects of the traditional chassis system. The wheel–track composite robot researched at the Gyeongbuk Institute of Science and Technology in Daegu, Korea [10], is used to perform surveillance, reconnaissance and search and rescue tasks in hazardous environments It consists of a common wheeled structure and a variable-tracked structure with good performance for fast navigation on flat ground and overcoming stairs or obstacles. The reasonableness of the maximum slope value, the highest vertical obstacle and the widest trench depth value that can be passed was verified; the change law of track tension and driving torque were summarized during the driving process of the chassis
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