| With the modernization and intelligence of agriculture and forestry,the research and development ability of intelligent agricultural and forestry machinery and equipment has been significantly improved.Advanced chassis technology for agricultural and forestry machinery plays a crucial role in improving the level of agricultural modernization and intelligence.Although there has been some research on chassis driving mechanisms suitable for complex terrains such as mountains and hills,and some products have been put on the market domestically and internationally,the climbing ability of the mechanical equipment chassis currently in use is limited and the stability of operation on steep slopes needs to be improved.This thesis is based on a school-enterprise preresearch chassis development project and proposes a walking-type,fully hydraulic,variable deformable chassis.The paper completes the structural design,finite element analysis,stability analysis,and simulation analysis of the chassis.The main research work of this paper includes:(1)Analyze the characteristic mechanism and gait of crawling motion of typical crawling animals,apply the principle of biological crawling,determine the traveling scheme of the walking-type fully hydraulic variable deformable chassis for crawling on steep slopes;determine the overall design scheme of the chassis,propose a creep climbing mechanism,and complete the structural design and selection of the chassis in accordance with the requirements of the chassis design parameters,based on the principle of biological crawling.(2)Establish,assemble,and inspect the interference of the virtual prototype model of the walking-type fully hydraulic variable deformable chassis,use the HM-ANSYS joint simulation finite element analysis method to perform strength analysis on the key bearing components of the chassis;perform modal analysis and dynamic analysis on the creep climbing mechanism,verify the structural strength reliability,and provide design ideas for the creep climbing mechanism to assist the chassis during travel.Conduct detailed calculations and analysis of the longitudinal and lateral stability of the chassis on sloping roads,and obtain mathematical models that characterize the limit overturning angle and slip angle,which are the evaluation indicators for the longitudinal and lateral stability of the chassis.Discuss the main factors that affect the stability of the chassis on sloping surfaces and provide design ideas for improving the stability of the chassis.(3)Perform a climbing ability analysis on the walking-type fully hydraulic variable deformable chassis;propose a driving strategy for the creep climbing mechanism to assist the chassis on steep working surfaces.Apply the theory of multibody dynamics to establish a multibody dynamic model of the walking-type fully hydraulic variable deformable chassis based on the Recur Dyn software,perform simulated analysis on the climbing performance of the designed chassis,and conduct simulated analysis research on the motion process of the creep climbing mechanism assisting the chassis in crawling and climbing on steep slopes to verify the driving strategy of the creep climbing mechanism in assisting the chassis on steep slopes. |
