Abstract
A six-wheel driving system with a variable wheelbase is proposed to improve the passing ability of unmanned vehicles. As the first step, the effect of the wheelbase variation on the axle load distribution is analyzed. Next, the relationship between the wheelbase variation and rolling resistance is obtained by numerical calculation combined with the theory of terramechanics, and it shows that the traction performance of the vehicle can be optimized by adjusting the wheelbase. Considering the deformation of tires and soil, the mechanism of the effect of the change in wheelbase on the ability of the vehicle to overcome an obstacle and cross a trench is studied, and a variable-wheelbase strategy for a vehicle overcoming an obstacle and crossing a trench is then proposed on the basis of theoretical calculations. Finally, the rationality of the variable-wheelbase strategy is verified in simulation experiments.
Highlights
The wheeled driving system has advantages over the tracked driving system; such as low running resistance, little noise, and good maneuverability [1], [2]
The main innovation of the present paper is to propose a variable-wheelbase driving (VWD) system, complete the structural design of the wheelbase variable travel system, and turn the concept of wheelbase change into reality
For the VWD system proposed in this paper, a change in wheelbase affects the point on the ground supporting the vehicle, and the load acting on each axle
Summary
The wheeled driving system has advantages over the tracked driving system; such as low running resistance, little noise, and good maneuverability [1], [2]. The active suspension of Crusher has a poor ability to adjust the driving system configuration, which limits the obstacle-crossing performance of the vehicle. For the VWD system proposed in this paper, a change in wheelbase affects the point on the ground supporting the vehicle, and the load acting on each axle. When a vehicle drives along a soft road, wheels of the rear axle pass over soil compacted by wheels of the front axle. The soil characteristics change, resulting in different coefficients of rolling resistance for each axle. If f1 > f2 > f3, increasing the rear-axle load helps reduce the rolling resistance of the vehicle when the weight of the vehicle is constant. The average rolling-resistance coefficient of the vehicle when traveling on a soft road surface is obtained as fcp.
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