Abstract:

In order to analyze the obstacle surmounting capability of a wheeled vehicle with a 2-DoF articulated frame, the equilibrium equations under the simultaneously surmounting the obstacle by 2 front wheels and surmounting the obstacle by a single front wheel were derived using a simplified obstacle surmounting mechanical model. As in roughterrain unstructured environment, the key terrain parameters, such as the adhesion coefficient, the rolling resistance coefficient, etc., are uncertain, the traction force to surmount the obstacle is also uncertain. Expressing these parameters with intervals, through the interval analysis the traction force needed by the vehicle to surmount the obstacle was calculated. Simulations showed that the theoretical results were reliable.

Key words: vehicle engineering, 2-DoF articulated vehicle, obstacle surmounting, traction, interval analysis