论文标题
与互锁尖峰的车辆的横向稳定性
Lateral Stability of Vehicle with Interlocking Spikes
论文作者
论文摘要
互锁驱动系统通过将狭窄的铰接式尖峰穿透到地面，并利用较深的土壤层的强度来抵抗水平草稿力来产生牵引力。该系统承诺在低重力环境中良好的拖流性能，因为轮胎由于车辆重量低而产生的牵引力很小。可能的应用包括用于土木工程任务等土木工程任务的重型车辆。安全的车辆在复杂的地形几何形状中需要横向车辆稳定性，以防止车辆滚动。良好的横向稳定性是挖掘和堆积操作的特殊要求，在该操作中，安全边缘定义了可以使用的地形几何形状，这是操作计划中的主要限制。可以以高滚动角度运行的泥土车辆减少了维持凹坑和堆坡道的需求，并且可以缩短和简化单个操纵的路径。在这里，我们报告了几项有关使用Interlock Drive系统的Earthmoving车辆的横向稳定性的现场试验。我们发现，车辆可以在最高20°的滚动角度工作，但是如果需要在30°或更高的滚动角度工作，则需要进一步改进。
The interlock drive system generates traction by penetrating narrow articulated spikes into the ground and by using the strength of the deeper soil layers to resist horizontal draft forces. The system promises good tractive performance in low gravity environments where tires generate little traction due to low vehicle weight. Possible applications include heavy-duty vehicles for civil engineering tasks like earthmoving or mining excavation. Safe vehicle operation in complex terrain geometry requires lateral vehicle stability to prevent vehicle rollover. Good lateral stability is a particular requirement for excavation and piling operations where the margins of safety define the terrain geometry that can be worked in, and it is a major constraint in operational planning. An earthmoving vehicle that can operate at a high roll angle reduces the need to maintain ramps in pits and on piles and can shorten and simplify the paths for individual maneuvers. Here we report on several field trials on the lateral stability of an earthmoving vehicle that uses the interlock drive systems. We find that the vehicle can work well at roll angles of up to 20°, but that it needs further improvement if work at roll angles of 30° or more is required.
