| Unmanned tracked combat platform,as a type of special robots,has become one of the major militant carriers in modern informational warfare.Mini-type tracked mobile vehicle occupies irreplaceable advantage in a varied topography.However,the present ones lack the ability of speedy attack.In this light,considering the militant needs,this thesis adopts the scientific methodology,which contains theoretical calculation,multi-body dynamic simulation and real vehicle test,to develop the mini-type loaded and high-speed tracked mobile vehicle.The target vehicle aims to perform military tasks of speedy firepower attack.The analysis on kinematic performance and the correlated influential factors is conducted.At the final stage,the sample vehicle is manufactured and follow-up tests are done.The principal thesis contents are as follows:(1)The chassis structure design of the tracked vehicle.Taking the DTV tacked robot as a prototype,the layout plan of the speedy tracked vehicle is established and the structural design and selection calculation are completed.The Finite Element Analysis is adopted to analyze the statics traits of frame assembly units,car axle and pto shaft in full load working condition,verifying whether their strength and stiffness meet the requirements.(2)Analysis on the traffic ability and stability of the tracked vehicle.Based on the structural parameters,the mathematical model of the car body during obstacle striding process is built.The motion attitude and maximum and minimum obstacle-striding ability in typical obstacle terrain are explored,estimating the comprehensive obstacle-striding ability of the tracked vehicle.(3)kinematic performance analysis of the tracked vehicle.Taking centrifugal force,track slippage and bulldozing resistance force into consideration,the vehicle’s kinematics models of straight driving and slope steering on soft ground are modified based on edaphic shear deformation theory.The transformation law is formed to explain the way that the grounding specific pressure,normal load,traction,steering resistance moment,sinkage,bulldozing resistance force change along with course angle,gradient angle,agrotype and other factors.The method to calculate the front and rear end sinkage is optimized based on Bekker’s pressurebearing theory.(4)Dynamic simulation and test of the tracked chassis vehicle.The multi-body dynamic model is constructed and its validity verified by theoretical calculation.The kinematic performance simulation is completed and the transformation of torque and sinkage under different working conditions as well as the track-front sinkage change rule during straight driving and slope steering in motion are analyzed.Then the accuracy of the mechanical model in working state and the feasibility of the overall vehicle design are verified.At last,the sample vehicle is manufactured and assembled and thus the kinematic performance of the vehicle is verified primarily. |
