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毕业设计诚信声明 我谨在此保证：本人所做的毕业设计，凡引用他人的研究成果均已在参考文献或注释中列出。设计说明书与图纸均由本人独立完成，没有抄袭、剽窃他人已经发表或未发表的研究成果行为。如出现以上违反知识产权的情况，本人愿意承担相应的责任。 声明人（签名）： 年 月 日 摘 要 多轴转向系统是为了提高重型汽车的机动性，减小其转弯半径。传统的汽车转向采用的是四连杆转向梯形机构，这种传统的转向系统具有结构简单，成本低廉的特点，但在车辆转向的过程中汽车的动力学响应特性受到汽车本身结构布置和外界条件的影响较大，汽车的机动性和操纵稳定性都不是很理想，因此多轴转向的研究意义重大。 本文在分析国内外多轴转向研究现状和发展趋势的基础上，介绍和分析传统汽车转向梯形机构的原理，完成多轴转向系统的设计、建模以及仿真。 论文研究的内容主要包括多轴转向系统的操纵机构和多轴转向系统的传动机构的设计。分别采用MATLAB、Pro/E和AutoCAD等软件完成了转向系统的尺寸优化、三维建模和二维图纸绘制。本文设计的多轴转向系统是由操纵机构和传动机构这两大部分组成，其中操纵机构包括方向盘、转向轴、万向节、齿轮等；传动机构主要采用六连杆组来实现汽车在转弯时使所有的车轮都作纯滚动。 通过转向系统仿真实验得出的结果：瓦特二型六连杆组作为汽车的转向系统传动机构可以实现汽车在转弯时所有的车轮都作纯滚动。 关键词：多轴转向；非线性不等式约束；操纵机构；传动机构；六连杆组 Abstract The multi-axis steering system is to improve the mobility of heavy vehicles and reduce the turning radius. Traditional automotive steering which is a four-bar linkage steering trapezoid body has the feature of simple structure and low-cost, but in the process of vehicle steering ,the cars dynamic response characteristics is affected by the structural arrangement of the car itself and the external conditions on a large extend ,and the cars maneuverability and handling stability are not very satisfactory. Therefore, the study of multi-axis turn has a great significance. On the basis of status and development trends at home and abroad, the study introduces and analysises the principle of car steering trapezium, and complete the design, modeling and simulation of multi-axis steering system. The contents of the thesis include the design of the steering system of multi-axis steering system controls and multi-axis drive mechanism. Using MATALAB, Pro / E and AutoCAD software to complete the optimization of the size of the steering system, 3D modeling and 2D drawing. In this study, the design of multi-axis steering system is made up of the control mechanism and the transmission. The control mechanism includes the steering wheel, steering shaft, universal joints, gears, etc. and