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应用平面投影和空间运动学的方法,对某矿用汽车的整体式转向梯形机构进行了研究分析,建立起转向机构的平面运动学的数学模型和包括前轮定位参数在内的空间运动学的数学模型,以转向过程中外侧车轮实际转角与理论转角误差平方和最小为目标函数,应用MATLAB软件完成了转向梯形机构的优化设计,确定了转向机构的设计参数。
By using the method of plane projection and space kinematics, the integrated steering trapezoidal mechanism of a mining vehicle was studied and analyzed. The mathematical model of the plane kinematics of the steering mechanism and the spatial kinematics including the front wheel positioning parameters Based on the mathematical model, the objective function is to minimize the square sum of the actual rotation angle of the outside wheel and the theoretical corner during the steering process. The optimization design of the steering trapezoidal mechanism is completed by MATLAB software, and the design parameters of the steering mechanism are determined.