吉林大学学报(工学版) ›› 2012, Vol. 42 ›› Issue (02): 285-291.

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Obstacle-climbing model of wheeled vehicle with oscillating body and minimum driving torque

WEI Wei1, LIU Xin-hui2, YAO Liang2, ZHAO Feng1   

  1. 1. College of Mechanical Science and Engineering, Jilin University, Changchun 130022, China;
    2. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
  • Received:2011-01-15 Online:2012-03-01 Published:2012-03-01

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Abstract: To study the obstacle-climbing capability of wheeled vehicle with oscillating body, the general dynamic equations to climb over obstacle by single front wheel and by two front wheels are derived based on the vehicle structural characteristics. By simplification, the dynamic model of obstacle-climbing in limited position of a 2DOF hinge vehicle is deduced. According to the mechanics model of obstacle-climbing, the feasible driving torque of each wheel is calculated, which satisfies the ground attachment condition. By further analysis, the minimum feasible total driving torque to climb the obstacle is also calculated. Simulation of 2DOF hinge vehicle using ADAMS demonstrates the reliability of the proposed method.

Key words: vehicle engineering, 2DOF articulated vehicle, climbing obstacle, minimum driving torque

CLC Number: 

  • U461.1
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