一种小型轮式平台的设计与运动仿真

Design and Motion Simulation of a Small Wheeled Platform

摘要:

针对传统轮式车辆转向半径大,转向阻力大的问题,提出一种新型的轮式车辆平台方案。该平台的运动机构由定轴转动的前轮和万向轮后轮组成,主动轮是由轮毂电机独立驱动的前轮,后轮为从动轮；平台采用电驱动,包含电源系统,控制系统,车体等几大部分,相比于传统的车辆,该平台引进了万向轮,大大加强了平台的灵活性,转向更加方便;通过在Solid Works中建立模型,然后在RecurDyn中进行仿真,设置不同的实验条件,根据实验结果可以得到:当后轮为万向轮时,平台相对于后轮固定具有较好的转弯能力,横摆角速度减小,平台转弯更加平稳；同时,平台具有一定的越障能力,可以在一定的复杂地形上完成运动,能够跨越一定尺寸的壕沟。这一结果可以为科学研究和实际应用提供理论依据。

Abstract:

Aiming at the problem of large turning radius and large steering resistance of traditional wheeled vehicles, a new type of wheeled vehicle platform is proposed. The platform consists of a front wheel and a caster wheel, which are fixed by a fixed shaft. The driving wheel is a front wheel independently driven by a wheel motor and the rear wheel is a driven wheel. The platform uses electric drive, including power supply system, control system, body and so on several major parts.Compared to the traditional vehicles, the platform introduced a caster, greatly enhancing the flexibility of the platform, steering more convenient. By modeling in the Solid Works software and simulating in the RecurDyn software ,According to the experimental results, we can get:When the rear wheel is a caster, the platform has better turning ability relative to the rear wheel fixing, the yaw rate decreases and the platform turns more smoothly. At the same time, the platform has a certain barrier capability, can be completed in a certain complex terrain movement, to a certain size of the trenches.This result can provide theoretical basis for scientific research and practical application.