Design and Analysis of Wheel-track Composite Loading Locomotion System with High Adaptability

被引：0
作者：
Wang S. [1 ]
Cao X. [1 ]
Zhang L. [1 ]
Zhu R. [1 ]
Zhang B. [1 ]
机构：
[1] School of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun
来源：
Zhu, Renjie | 1835年 / Chinese Mechanical Engineering Society卷 / 28期
关键词：
Adaptive lifting platform; Diameter-variable wheel; Loading; Wheel-track composite mechanism;
D O I：
10.3969/j.issn.1004-132X.2017.15.011
中图分类号：
学科分类号：
摘要：
A new type of travel mechanism combined wheel and track was based on different kinds of complex unstructured pavement conditions. The wheel-track composite mechanism was mainly composed of diameter-variable wheel component and crawler system. This structure gave full play to the characteristics of the high efficiency of the wheel structure, and shown the crawler system which enhanced the stability of the whole machine and good adaptability to the ground. Simultaneously, an adaptive loading-lifting platform was designed. In order to achieve the horizontal platform always, the closed-loop control was established to the degree of platform by using Kalman filter algorithm through Gyroscope. A dynamic model was established for verification of climbing stairs performances by using RECURDYN. The results show that this new locomotion system has good adaptability for complex conditions and stability for maintaining loading platform, which has certain reference values for the design of associated transport machinery. © 2017, China Mechanical Engineering Magazine Office. All right reserved.
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页码：1835 / 1841
页数：6
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