Original scientific paper
https://doi.org/10.5552/crojfe.2023.1373
Design of a Six-Swing-Arm Wheel-Legged Chassis for Forestry and Simulation Analysis of its Obstacle-Crossing Performance
Yaoyao Gao
; Beijing Forestry University School of Technology Beijing 100083 CHINA
Zechen Zeng
; Beijing Forestry University School of Technology Beijing 100083 CHINA
JiangMing Kan
; Beijing Forestry University School of Technology Beijing 100083 CHINA
Abstract
Obstacle-crossing performance is an important criterion for evaluating the power chassis of
forestry machinery. In this paper, a new six-swing-arm wheel-legged chassis (SWC&F) is
designed according to the characteristics of forest terrain, using herringbone legs to control
the ride comfort and stability of the chassis in the process of crossing obstacles. First, the kinematic
model of the SWC&F is established, the coordinate analytical expression of each wheel
centre position is derived, and the swing angle range of each wheel leg of the chassis is calculated
according to the installation position of the hydraulic cylinder. Next, the control model
of the system is constructed, and the obstacle-crossing performance of the SWC&F is analyzed
by ADAMS/Simulink co-simulation using the PID control method and conventional control
method, respectively. The results show that the maximum obstacle crossing height of the
SWC&F can reach 411.1 mm, and the chassis with PID control system has good dynamic
response characteristics and smooth motion, which meets the requirements of forest chassis
obstacle crossing design. The study can provide the foundation for the practical laws of the
physical prototype of the forest vehicle chassis.
Keywords
Hrčak ID:
290869
URI
Publication date:
13.1.2023.
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