Dynamic research and analysis for a wheel-legged harvester chassis during tilting process
Dynamic research and analysis for a wheel-legged harvester chassis during tilting process
复制标题
轮腿式收割机底盘倾翻过程动态研究与分析
DOI：
10.1177/1687814019855453
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发表时间：
2019-06-01
影响因子：
2.1
通讯作者：
Yu, Chunzhan
中科院分区：
文献类型：
--
作者：
Li, Zhilong;Liu, Jinhao;Yu, Chunzhan
本文旨在分析四轮腿式收割机底盘的动态倾翻特性。为了获得收割机底盘的位姿和位置，采用螺旋理论方法建立了四轮腿式收割机底盘的运动学模型。通过对倾摆过程中底盘实际运动的分析，基于拉格朗日方程建立了轮腿铰接式转向底盘倾摆动力学模型。为了验证动力学模型的准确性，在亚当斯环境下对底盘进行了仿真。三个系列的比较表明，模拟和计算之间的结果高度一致。两个结果都表明，提高倾斜侧轮腿，缩短另一侧腿，转向倾斜侧可以帮助防止底盘倾斜。将倾斜侧的轮腿抬起比缩短其他侧的轮腿更有效。模拟和计算之间的变化率的平均误差分别为2.4%，0.67%和2.75%。
This article aims to analyze the dynamic tilting characteristics of a four-wheel-legged harvester chassis. In order to achieve the pose and position of the chassis, kinematic model of a four-wheel-legged harvester chassis was established by the screw theory method. After analyzing the actual motion of the chassis during tilting process, dynamic tilting model of the wheel-legged articulated steering chassis was achieved based on the Lagrange’s equation. To prove the accuracy of the dynamic model, simulations of the chassis was conducted under ADAMS environment. Three series of comparisons showed that results between simulations and calculations were highly consistent. Both results showed that lifting the tilting side wheel-legs, shortening the other side legs, and steering to the tilting side could help prevent tilting of the chassis. Lifting the tilting side wheel-legs was proved to be more efficient than shortening that of the other sides. Average error of the change rates between simulations and calculations were 2.4%, 0.67%, and 2.75%.