Design And Performance Analysis Of Watt-? Steering Mechanism For Heavy-duty Vehicles

In this paper,a Watt-II steering mechanism for heavy-duty vehicles is designed.The size synthesis of the steering mechanism,the kinematic simulation of the steering mechanism and the analysis of the vehicle's motion track are emphasized.The main research is as follows:Firstly,the basic theoretical knowledge of the steering mechanism is introduced,including the ideal steering principle of the vehicle,the basic method of plane linkage mechanism synthesis,the selection of precise points,etc.,and the precise angle of the elbow arm rotation before the design is obtained.Secondly,according to the ideal Ackerman principle of vehicle steering,the steering angle of every elbow arm of the steering mechanism is calculated,and some precise steering angles are selected in the steering process.The size of each axis steering mechanism satisfying the precise point position is synthesized by using MATLAB software and the method of frame conversion and rigid body displacement matrix,and the sizes of different axis steering mechanisms are obtained.The steering mechanism of each axle is coupled with the actual wheelbase of a heavy-duty vehicle to form Watt-II four axle steering mechanism.Then,the three-dimensional model of watt-ii steering mechanism is built in Pro/E,and the model is imported into ADAMS for simulation.The error of the rotation angle of the left elbow arm of the coaxial left and right elbow arms and the error of the rotation angle of the left elbow arm of the different axis relative to the left elbow arm of the first axis and the right elbow arm of the different axis relative to the right elbow arm of the first axis are obtained.And draw the error curve,get the steering angle error of the coaxial left and right elbow arm and the rotation angle error of the different axis unilateral elbow arm are in the reasonable range,which basically meets the Ackerman steering principle,and the causes of the error are analyzed.Finally the three-dimensional model is imported into V-rep,the steering mechanism is added with wheels to establish joints,and the dynamic properties of wheels and body are set up Three angles of neutral position and right turn are selected for simulation,and the turning path is obtained.The path data is analyzed with MATLAB,and the turning radius is obtained Compared with the theoretical turning radius,the error of turning radius is within a reasonable range.The vehicle with the steering mechanism can turn smoothly and smoothly,meeting the conditions of turning.