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Experimental verification of the steering performance of all-hydraulic crawler chassis

Lv X., Shi X., Lv X., Wang T.

Engineering Transactions

2018

Vol. 66, iss. 4

427--442

The force conditions in the steering system of the chassis under different conditions are analyzed theoretically for the independently designed and developed all-hydraulic crawler chassis. Using the multi-body dynamic simulation software RecurDyn, the chassis steering performance on sandy loam and clay pavements, and the steering performance under different steering radiuses on the sandy loam pavement are simulated and analysed dynamically respectively. The steering resistance moment is studied when the pavement conditions and steering radius are different. This research selects inside and outside crawler slip ratio as an index, and road conditions, speed and steering radius as factors to test the steering performance of all-hydraulic crawler chassis under different operating conditions. It is observed from the simulation results that during the pivot steering on the sandy loam, the drive torque and braking torque of the driving wheel are larger than on the clay ground. With the decrease of the steering radius, the torques of the left and right driving wheel are both gradually increasing. In the same steering radius, the torque of the outside driving wheel is larger than that of the inside driving wheel. The simulation results are consistent with the theoretical analysis results. In the steering performance test, the factors influencing the slippage rate on both sides of the crawler are such that the influence of the steering radius is greater than that pf the pavement condition and the pavement condition influence is greater than that of the speed. Among them, the steering radius has a significant influence on the slip ratio of the inside crawler, and an extremely significant influence on the slip ratio of the outside crawler. This research can provide a certain theoretical basis and technical reference for the development of hydraulic crawler chassis and optimization of the steering system.

Samoczyszczące podwozie gąsienicowe mobilnego robota eksploracyjnego

Filipek P., Sobieszyński M.

Logistyka

2014

nr 3

1771--1781

Artykuł przedstawia wirtualny projekt oraz wykonanie rzeczywiste podwozia gąsienicowego mobilnego robota eksploracyjnego. Podczas jazdy, każda z gąsienic jest samooczyszczana z materiału, który przylgnął do bieżnika. Gąsienica zbudowana jest z dwóch łańcuchów rowerowych z zamocowanymi elementami bieżnika, współpracujących z odpowiednio przygotowaną zębatką. Wykonano dwa komplety gąsienic z różnymi bieżnikami: z profili aluminiowych i podkładów gumowych. W podwoziu umieszczono dwa silniki napędowe prądu stałego z fabrycznymi przekładniami wraz z zasilaniem akumulatorowym 12 V/5 Ah. Skrzynia podwozia wykonana została z płyt bakelitowych o grubości 6 mm.

The article presents the virtual design and implementation of real chassis tracked mobile exploration robot. During the driving, each of the caterpillar is self-cleaning of a material that has adhered to the tread. The caterpillar is made of two bicycle chains with fixed tread objects, working with a prepared rack. Performed two sets of caterpillar with different tread patterns: the aluminum and rubber substrates. The chassis include also two drive motors DC with factory gears with rechargeable battery 12 V / 5 Ah. Transmission chassis is made of bakelite plates with a thickness of 6 mm.