Abstract
As to the complicated terrain in forest, forestry chassis with an articulated body with three degrees of freedom and installed luffing wheel-legs (FC-3DOF&LW) is a novel chassis that can surmount obstacles. In addition, the rear frame of FC-3DOF&LW is regarded as the platform to carry equipment. Small inclination angle for rear frame contributes to stability and ride comfort. This article describes the strategy of traversing obstacles and simulation for FC-3DOF&LW that drives in forest terrain. First, key structures of FC-3DOF&LW are briefly introduced, which include articulated structure with three degrees of freedom and luffing wheel-leg. Based on the sketch of luffing wheel-leg, the movement range of luffing wheel-leg is obtained by hydraulic cylinder operation. Second, the strategy of crossing obstacles that are simplified three models of terrain is presented, and the simulation for surmounting obstacles is constructed in multibody dynamics software. The simulation results demonstrate that the inclination angle of rear frame is 18° when slope is 30°. A maximum 12° decrease of inclination angle for rear frame can be acquired when luffing wheel-legs are applied. For traversing obstacles with both sides, the maximum inclination angle of rear frame is about 1.2° and is only 3° for traversing obstacles with single side.
Highlights
Forestry vehicles are perceptive machines that can be used to perform a variety of forestry tasks including felling, delimbing, harvesting, and transporting logs
Forestry vehicles can be roughly divided into two types of chassis: tracked and wheeled
The strategy of traversing obstacles that are simplified three models of terrain is presented, and the simulation for surmounting obstacles is constructed in multibody dynamics software
Summary
Forestry vehicles are perceptive machines that can be used to perform a variety of forestry tasks including felling, delimbing, harvesting, and transporting logs. There is, a large engineering challenge to increase the mobility and trafficability performance of forestry chassis. The development of the off-road chassis has received increasing interest and has been widely pursued by researchers.[4,5,6,7,8]. Forestry vehicles can be roughly divided into two types of chassis: tracked and wheeled. Legged and wheel-legged are regarded as wheeled structure.[9] For the tracked chassis development, a lot of researches can be found. A new design for a tracked forestry machine bogie (long track bogie) on soft and rough terrain is investigated using nonsmooth multibody dynamics simulation by Edlund et al Bogies increase the traction and stability by basically maintaining the contact between the rough terrain and wheels. To School of technology, Beijing Forestry University, Beijing, China
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