关键词: 轮履复合, 动力学分析, 乘适性, 优化设计

Abstract:

This paper presented a new kind of wheel-tracked rescue robot,which could efficiently search and transport the wounded in the disaster sites and other complex environments by converting the structure between wheel and track. Considering the safety and comfort of the wounded,this paper focused on the vibration analysis during the transporting of the wounded, and used the multi-body dynamics software ADAMS to establish the rescue robot's dynamics model.This model was about the simulation analysis of the operation in the actual road conditions. Considering different parts of the human body have different frequency weighting functions in different directions, the simulation curve should be processed by the corresponding filter designed by MATLAB to calculate the robot's ride comfort. Target to better ride comfort, the suspension parameters should be redesigned by the MATLAB optimization toolboxes.And the further simulation outcomes demonstrate the rationality of the optimization results.

Key words: wheel-tracked, dynamics analysis, ride comfort, optimization design