文档介绍：
六足靴式气垫车的结构参数优化#
贺登博,马聪,喻凡,罗哲**
(上海交通大学机械与动力工程学院)
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摘要:软地面恶劣复杂环境下车辆的通过性一直是非路面车辆动力学及其控制领域的研究热
点及难点。课题组在前期对半履带气垫车研究的基础上,提出一种以六个气垫靴作为行走机
构的新型软地面概念车。该车通过驱动机构实现其纵向运动,而足的垂向运动则通过充放气
实现。在本文中,先简单介绍了这种新型车辆的结构和工作原理,然后针对其结构和工作原
理,分析确定了其所应当具备的约束条件。使用约束条件,建立标准化的数学表达式,利用
matlab 软件进行多约束优化设计,最终确定靴式气垫车的各项结构参数。
关键词:软地面车辆;气垫靴;结构设计;多约束优化
中图分类号: U273
文献标识码:A
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Parameter Optimization of the Six-Air-Cushion Boots
Walking Concept Vehicle
HE Dengbo, MA Cong, YU Fan, LUO Zhe
(School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai,200240,China)
Abstract: It has been a difficult but hot subject to improve the vehicle trafficability in some
complex soft-terrain environments in the research area for off-road vehicle dynamics and control.
Based on previous study for a semi-tracked air-cushion vehicle, a novel soft-terrain concept
vehicle with a walking mechanism by using six air-cushion boots is proposed. The vehicle motion
is realized by a driving-gears while the boots vertical motion is realized by air charging or
discharging. In this paper, the structure and working principle of the vehicle are described firstly.
Then the constraint conditions are proposed according to the structure and working mechanism of
the new walking concept vehicle. With the constraint conditions, the mathematical equations are
established and the multiple-