Stability Analysis And Experimental Study On Wheeled Vehicle With Two Degrees Of Freedom Articulated Body

For years, with the frequent occurrence of natural disasters such as earthquakesand landslides, makes the Traffic complexity into the disaster, not only need thetransport vehicles with high mobility, transport vehicles and stability, but also needthe vehicles which have the ability with off-road and to clean-up the road (such asdrilling, equipment, drilling). Professors in vehicle has been committed to the researchand design of the vehicle system which has good climbing obstacle capability andstability. Based on this, the combination of school-enterprise cooperation projectsThe Line-Wheeled Off-Road Engineering Vehicles for Complex Non-structuralDevelopment. The combination of school-enterprise cooperation projects forcomplex unstructured terrain wheeled off-road construction vehicles development, toNational High Technology Research and Development Program "863" Project fortechnical support. Designed and researched of the articulated wheeled off-road vehiclewith2DOF. It is able to change his body posture. In the environment of non-structuralcomplex terrain. Still able to maintain good terrain through capacity and anti-tipping.Vehicles of articulated off-road has been Composed of three Parts, front bodyrear body, which are joined by a2DOF hinge assembly. Front and rear body can beachieved the free rotation on the two directions. While reducing the torsional stiffnessof the frame, the capability of off-road vehicle had been greatly improved. In thecomplex terrain of non-structure, articulated off-road vehicles need to maintain a goodstability of the Obstacle clearance. Particularly reflected in stability of the lateralanti-tipping. This paper start from the stability analysis of vehicle, to analyze thestability of articulated off-road vehicle, it was analyzed the obstacle conditions ofarticulated off-road vehicles under the steps, boss, trenches terrain. Static descriptionof tipping and sliding when articulated off-road vehicles driving on the slope of theroad. Summed up the passing ability of the hinged bodywork in relatively flat terrain. It is important to establish an accurate mathematics model to research thearticulated off-road vehicles characteristic of AF. When AF is running in the terrain,the Obstacle process of attitude of front body or the rear body were different. Incomplex ground environment, the attitude of the articulated off-road vehicles in theObstacle process, Affected by the factors such as the sloping angle of the front bodyand rear body and steering angle. Only considering of the conditions of yaw, roll, andthe relative rotation for the front and rear body of the vehicle. Established the lateraltilting dynamics model of the articulated off-road vehicles. With the analysis methodof the static stability. Using the spatial coordinate system, described the relationshipof the centroid of articulated off-road vehicles between the steering angle and theangle of slope. When articulated off-road vehicles into the state of the critical tipping,standard with the stability, analyzed the stability of the front and rear body and thevehicle. Analyzed the instability process of the off-road vehicles with articulated. Asthe basis for simulation experimental verification to stability of the pre-impact bodyand vehicle, summed up stability variation of the front, rear and vehicle of thearticulated off-road vehicles when it is climbing obstacle with low speed. In theterrain of unstructured, conducted experiments for articulated off-road vehicles.In the terrain of unstructured, conducted experiments for articulated off-roadvehicles, the articulated wheel off-road vehicles had a strong capability of theclimbing obstacle.