一种六轮机构通过梯形障碍物的振动分析.pdfVIP

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一种六轮机构通过梯形障碍物的振动分析

吴楠

（爱驰汽车（上海）有限公司，上海201821）

摘要：

借助MATLAB软件仿真分析，探究了一种六轮机构移动平台驱动轮以不同的速度通过梯形障碍物时，平台负载重

心的加速度变化，从而防止因加速度过大导致负载产品受损。研究发现，在一定条件下，从驱动轮接触梯形障碍物至驱动轮

离开障碍物的过程中，负载重心加速度绝对值的最大值与驱动轮水平速度的平方成正比。文中涉及的方法和结论可以为设

定该类移动平台通过减速带时的速度提供理论依据。

关键词：

六轮机构；振动分析；建模；几何

中图分类号:TH113.1；TP22文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园21）01原园097原园3

VibrationAnalysisofaSix-wheelMechanismPassingthroughaTrapezoidalObstacle

WUNan

(AIWAYSAutomobile(Shanghai)Co.,Ltd.,Shanghai201821,China)

Abstract:WiththehelpofMATLABsoftwaresimulationanalysis,thispaperstudiestheaccelerationchangeofthegravity

centeroftheplatformloadwhenthedrivingwheelofasix-wheelmechanismmobileplatformpassesthroughatrapezoidal

obstacleatdifferentspeeds,soastopreventtheproductfrombeingdamagedduetotheexcessiveacceleration.Itisfound

thatundersomecertainconditions,theabsolutevalueoftheaccelerationofthecenterofgravityoftheloadisproportional

tothesquareofthehorizontalspeedofthedrivewheelfromthetimethedrivewheelcontactsthetrapezoidalobstacleto

thetimethedrivewheelleavestheobstacle.Thesemethodsandconclusionscanprovideatheoreticalbasisforsettingthe

speedofthistypeofmobileplatformwhenpassingthespeedbump.

Keywords:six-wheelmecha