期刊论文

Dynamic Model of Crawler Anti-radiation Excavator Climbing over Obstacles and Analysis on its Influential Factors

中文

南华大学学报(自然科学版)

1673-0062

2017

31

3

1-8+24

10.19431/j.cnki.1673-0062.2017.03.001

(2013MH01):湖南省军民融合产业发展专项 (2016KG81):衡阳市科技局计划项目

本校为第一机构

根据履带式防核辐射挖掘机结构及参数,构建了攀爬垂直壁和跨越壕沟两种典型越障工况的越障能力计算模型,计算得到其越障能力值分别为555 mm、1 721 mm.运用虚拟样机技术,建立对应工况下的动力学仿真模型,通过仿真获得其攀爬垂直壁和跨越壕沟能力值分别为551 mm、1 625 mm,与理论值相近.对其仿真结果进行分析得到质心位置及行驶速度对越障能力的影响规律:质心前移与上升能提升其攀爬垂直壁、跨越壕沟的能力,质心左右偏移对其越障能力影响微小;低速挡攀爬凸起障碍物时对车体冲击量较小,高速挡能有效提升其跨越壕沟能力.

According to the structure and parameters of the crawler anti-radiation excavator,two typical obstacle crossing ability computational models under the obstacle crossing working condition： the climbing vertical wall model and the ditch crossing model,have been built.And the obstacle crossing ability values,after calculation,are 555 mm and 1 721 mm respectively.By utilizing the virtual prototype technology,the dynamic simulation model in accordance with the working condition has been set up,and the climbing vertical wall capability and the ditch...