二自由度铰接车越障时的运动方向偏移研究..docVIP

二自由度铰接车越障时的运动方向偏移研究 寇伟刘昕 (吉林大学 机械科学与工程学院，长春 130022) θ2，轮地接触角发生改变，产生了运动方向偏移现象。 关键词 中图分类号 文献标识码 A Researchmotion direction displacement of 2DOF articulated vehicle surmounting obstacle KOU Wei LIU Xin-hui （school） Abstract：When two degrees of freedom (2DOF) articulated vehicle traverses uneven terrain as autonomous vehicles, need to analyze the course of vehicle surmount obstacle and establish kinematic models for designing the motion control algorithms of 2DOF articulated vehicle. The kinematic equations of 2DOF articulated vehicle are derived based on D-H method. Simulate and analyz