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- Title
轮腿式无人战车越障性能分析.
- Authors
许志伟; 朱纪洪
- Abstract
Aiming at the problem of insufficient trafficability of military transportation, emergency rescue and disaster relief on an unstructured complex road surface, this paper proposes an eight-wheeled unmanned combat vehicle driven by wheel-legged full hydraulic pressure, which can adjust its operation attitude to adapt to different complex terrains through the cooperative control of the swinging arms. Obstacle-crossing performance is the key factor to measuring its trafficability. An obstacle-crossing dynamics model and a posture planning model of the unmanned combat vehicle are established, and then the obstacle-crossing performance of typical vertical wall obstacles of the vehicle is obtained by figuring out the relationship between different obstacle-crossing heights and swinging angles of the swinging arms of the vehicle. On the basis of theoretical analysis, a comprehensive simulation platform is established and verified through QT, simulink and ADAMS. The results show that the eight-wheeled unmanned combat vehicle driven by wheel-legged full hydraulic pressure can complete vertical wall obstacle-crossing with a height of 1.176 times of the tire diameter.
- Subjects
ARMORED military vehicles; AUTONOMOUS vehicles; MILITARY transportation; MOTOR vehicle driving; DISASTER relief; WHEELS; ARTIFICIAL satellite attitude control systems
- Publication
Journal of Ordnance Equipment Engineering, 2023, Vol 44, Issue 5, p59
- ISSN
2096-2304
- Publication type
Article
- DOI
10.11809/bqzbgcxb2023.05.010