本文拟从铰接式工程机械基础拖拉机(以下简称铰接式拖拉机)的不稳定转向过程着手,初步探讨其运动学和动力学的一些特点。讨论时假定拖拉机有足够的转弯能力,并且不受发动机功率的限制;机体铰接点位于轴距的中部,且铰销垂直于地面;拖拉机重量在四个轮上均匀分布;传动系效率所产生的影响不作考虑。 This article intends to start from the unstable steering process of articulated construction machinery foundation tractors (hereinafter referred to as articulated tractors), and initially discusses some characteristics of its kinematics and dynamics. The discussion assumes that the tractor has sufficient cornering ability and is not limited by the engine power; the hinge point of the body is in the middle of the wheelbase and the hinge pin is perpendicular to the ground; the weight of the tractor is evenly distributed on the four wheels; the efficiency of the drive train is generated The impact is not considered.