Research On Parallel Hinge Mechanism Of The Modular All-Terrain Tacked Vhicle

A new form of specialized vehicle to tackle the complicated changes of field operation tasks is the modular all-terrain tracked vehicle,which can swiftly modify the combination of tracked vehicles according to the task.The articulation mechanism is a crucial component of this new vehicle that enables the combination and functional reconfiguration of the vehicle body.Traditional articulation mechanisms,however,are only prone to induce the vehicle to pitch and deflect in order to travel the barrier and turn.They are unable to actively dock or accomplish the quick detachment and reassembly of the vehicle body.To address the problem,this paper suggests a parallel articulated mechanism with 6-UCU,establishes kinematic and dynamic models,implements an optimized design,and analyzes the effect of the articulated mechanism on the smoothness and overrun performance.The main work of the thesis is specified as follows:1.The structural characteristics of typical mechanisms were analyzed,in accordance with the vehicle performance index.The articulation scheme based on the 6-UCU parallel mechanism was provided,the major structural parameters of the mechanism were established,and the kinematic model of the mechanism was developed.The effect of the mechanism parameters on the working space was analyzed in the light of the constraints of the mechanism.2.The mechanism dynamics model was derived using the Newton-Euler equation,the relationship between the Jacobi condition number and the mechanism performance was analyzed,and the influence of the mechanism parameters on the mechanical performance was investigated.The system vibration model of the modular all-terrain tracked vehicle was established,and the feasibility of random excitation produced by the white noise method was demonstrated,which lays a foundation for the relationship between research institutions and vehicle ride comfort.3.The impact of four structural characteristics on the overall performance of the vehicle was examined using the maximum output force of the vehicle crossing the trench,the maximum height of crossing the step,the global condition number,and the minimum turning radius as the assessment criteria.Based on this,the NSGA-II algorithm was further utilized to perform a multi-objective optimization with the maximum height across the stages and global condition number as the objectives,so as to obtain the final mechanism size parameters.4.Recurdyn software was used to build the vehicle simulation model,which was then used to simulate the vehicle crossing trenches and steps with results that met the performance requirements of vehicle.Following the analysis,the vehicle suspension stiffness was raised,which further improved the performance of the crossing steps.Simultaneously,the smoothness of the vehicle on different road surfaces was examined using the bench test method,and it was established that the articulation mechanism had a certain impact on enhancing the smoothness of the vehicle.