Research On The Kinematics Virtual Simulation Of A Wheel-pendulum Forwarders Chassis

Chinese forestry industry continues to increase,ranking first in the global forest production consumption and trade.However,there are few forwarders chassis that can adapt to complex roads in forest areas.In the research and development of forestry chassis,there are practical problems such as high processing costs,real vehicle testing hazards,and difficulties in testing complicated structures.Kinematics virtual simulation can visually simulate the real-time movement state of the chassis of forestry skid trucks through visual methods.It has the characteristics of online modification of motion parameters and rapid verification results,shortening the development cycle.This research proposes a forest chassis structure suitable for Chinese mountainous and conducts three-dimensional modeling,space kinematics modeling and kinematics virtual simulation research.First of all,this research chooses a suitable for Chinese mountainous terrain operation forwarders structure.Through the actual operation requirements,determining the main parameters of wheel-pendulum forwarders.Using Solidworks for three-dimensional modeling,and establishing the space kinematics model of wheel-pendulum forwarders chassis.On account of the established chassis space kinematics model,the Simulink simulation software is used to build two typical road conditions of vertical obstacle and slope,as well as the kinematics simulation model of front and rear wheel pendulum mechanism.Finally,setting up the kinematics module simulation diagram of the wheel-pendulum chassis.Through the simulation of Simulink module,it is easy toget the change of motion parameters of the wheel pendulum mechanism under two typical road conditions.Finally,with the help of Unity3D development tools,we use Terrain components to create typical simulation scenarios of vertical obstacles and slopes,and load the 3D model of wheel-pendulum forwarders.After that,adding rigid bodies,colliders,joints and other physical engines,and setting up parameters.Then the kinematics virtual simulation of wheel-pendulum forwarders chassis realizesThis research uses Simulink and Unity 3D simulation methods to make up for the shortcomings of the traditional simulation methods in terms of interactive vividness,and solving the difficult problems of complex chassis simulation verification.