推拉式气垫运载平台转向运动分析

摘要

Push-pull air-cushion platform is a new type of air-cushion vehicle, which is used to carry heavy load on soft terrain. It has two independent platforms, which are connected by two hydraulic cylinders. The vehicle can go forward by alternate movement of these two platforms. It means that push-pull air-cushion platform is a stepping or non-continuously moving vehicle. So the steering motion is different from a wheel or a track vehicle. Basing on its special walking mechanism in structure, and taking a method of combined mathematics and mechanics analysis, a relational curve of steering angle α and length difference of two hydraulic cylinders and a input-output relational expression fitted by the least square method were obtained. Finally, the results of vehicle steering motion tests on soft and hard terrain were given and analyzed in the paper.%针对一种新型的仿生步行气垫车——推拉式气垫运载平台，就其特殊形式的行走机构和车辆非连续运动的特点，研究其转向运动规律。采用力学分析和数学分析相结合的方法，得到气垫平台步进转向角α与左右油缸行程差的关系曲线，并应用最小二乘法拟合出输入输出关系方程式。最后，给出了软、硬地面条件下车辆转向运动试验结果及比较分析。