| In the course of driving,the tracked vehicle is widely used in engineering,mine,military,agriculture and other fields with the advantages of small ground specific pressure,good performance,strong traction and adhesion,and the advantages of overcoming obstacles and strong steering ability.At present,the out-of-chain and skidding caused by non-uniform running of a tracked travel device.The problem of large load in key parts during driving often affects the ride comfort and safety reliability of tracked vehicles.Therefore,this paper studies the driving inhomogeneity and the rigid-flexible coupling of the caterpillar car,from the theoretical derivation of the unevenness coefficient of the chain ring,the dynamic modeling and simulation analysis of the caterpillar car,the rigid flexible coupling simulation and analysis of the caterpillar track,the test verification and the load spectrum compilation,etc.which effectively improve the performance and safety and reliability of tracked vehicle.Firstly,through the study of the crawler kinematics,the theoretical formulas for the non-uniform coefficient of crawler chain links are deduced,and the interrelationships between the chain pitch,the driving wheel radius and the chain non-uniform coefficient are analyzed.In order to explore the influence of non-uniform coefficient of crawler chain on the ride comfort of track vehicle.the dynamic model of track vehicle is established by combining Solidworks 3D CAD software with RecurDyn dynamics software.The operating conditions of the track vehicle driving on the horizontal and over the pits are simulated when the non-uniform coefficient takes different values.The influence of the non-uniform coefficient on the ride comfort of the tracked vehicle is discussed and analyzed through the three aspects of the force of the Caterpillar board and the ground force,the force of the Caterpillar board and the driving wheel,the support wheel and the ground force.It is concluded that the effect of the non uniform coefficient of 1.043 on the ride comfort of the tracked vehicle is better than 1.094.Secondly,using the combination of ReFlexDyn modal flexible body modeling technology(RFlex)and ANSYS,a rigid-flexible coupling model of the crawler vehicle with flexible frame body was established.The deformation and stress distribution of the frame during crawler driving were studied.The first 10 modal vibration modes of the frame body,and the dynamic displacement and stress cloud diagrams of the frame body under the three conditions of horizontal road running,over-obstacle road running,and in-situ steering are obtained.The analysis results show that The effects of various operating conditions on the displacement and stress of the frame body are,from the largest to the smallest,the over-obstacle road surface,the local steering,and the horizontal road surface.In all operating conditions,the most stressed area of the frame body occurs at the connection between the roller and the frame body,and the connection between the driving wheel and the frame body is the next.Finally,in order to verify the accuracy of the simulation model,the tracked vehicle was subjected to actual road test.The accuracy of the tracked vehicle model established was verified by comparing the acceleration data curve of the position of the measuring point of the frame body and the corresponding point of the simulation result.Due to the randomness of the load in the actual work of the tracked vehicle,in order to better study its intrinsic statistical law,based on the simulation results,the load spectrum of the vehicle frame body danger zone under three working conditions was compiled using the one-dimensional load spectrum theory and MATLAB.The analysis of the influence of the heterogeneity of the chain ring on the ride comfort of the crawler,the rigid-flexible coupling analysis method of the crawler,the test verification and the study of the load distribution law have certain reference value for the structural design of the tracked vehicle driving system. |
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