全地形仿形行走车仿形行走理论及试验

摘要：针对农业地面的复杂和崎岖不平性，提出了全地形仿形行走车仿形行走理论并进行了仿形行走原理研究和关键仿形行走参数的分析计算，并通过计算机进行仿形行走过程模拟分析和特定地形下的仿形行走运动关系检验计算。对全地形仿形行走车的关键参数进行设计并试制小样车，通过完整仿形行走过程试验以及极限仿形行走试验对全地形仿形车仿形行走理论及特性进行了验证，通过部分通用行驶性能试验证明全地形仿形行走车具有行驶稳定性以及工作可靠性。理论与试验表明，全地形仿形行走车能够适用于山地、丘陵、草地和农业等崎岖不平地面。研究可为全地形仿形行走车的推广应用提供理论依据和试验参考。

Theoretical analysis and experiment of all terrain adaptive locomotion vehicle

According to the irregularities and complexities of farmland, the terrain adaptive locomotion theory of all terrain adaptive locomotion vehicle (ATALV) was proposed and the key terrain adaptive parameters was analyzed and calculated, which was also verified by the computer simulation of terrain adaptive locomotion and kinematic analysis on specific terrain. The key parameters were designed and the small scale vehicle was manufactured. The experiments of terrain adaptive locomotion process and utmost terrain adaptive locomotion were conducted in order to verify the terrain adaptive locomotion theoretical basis, and some tests of general operating performance proved ATALV's stability and reliability. All the theoretical analyses and experiments show that ATALV can be used in mountain, hill, slope, grassland and rough farmland, etc. The research can provide theoretical and experimental references for ATALV applied in practice.