Optimal Design and Analysis of Traction Steering Mechanism for Loading Transport Vehicle

Ruochao Wang; Zhikuan Yin; Zisheng Liu; Zijue Wang; Taiming Zhang; Jiantao Yao

doi:10.16578/j.issn.1004.2539.2021.05.007

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Optimal Design and Analysis of Traction Steering Mechanism for Loading Transport Vehicle

Design· Calculation | 更新时间：2022-11-10

- Optimal Design and Analysis of Traction Steering Mechanism for Loading Transport Vehicle
- Journal of Mechanical Transmission Vol. 45, Issue 5, Pages: 42-49(2021)
- 作者机构：
  
  1.燕山大学河北省并联机器人与机电系统实验室，河北秦皇岛 066004
  2.燕山大学先进锻压成形技术与科学教育部重点实验室，河北秦皇岛 066004
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.05.007
  CLC：
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王若超,殷智宽,刘自胜等.装载转运车牵引转向机构优化设计与分析[J].机械传动,2021,45(05):42-49.

Wang Ruochao,Yin Zhikuan,Liu Zisheng,et al.Optimal Design and Analysis of Traction Steering Mechanism for Loading Transport Vehicle[J].Journal of Mechanical Transmission,2021,45(05):42-49.
王若超,殷智宽,刘自胜等.装载转运车牵引转向机构优化设计与分析[J].机械传动,2021,45(05):42-49. DOI： 10.16578/j.issn.1004.2539.2021.05.007.

Wang Ruochao,Yin Zhikuan,Liu Zisheng,et al.Optimal Design and Analysis of Traction Steering Mechanism for Loading Transport Vehicle[J].Journal of Mechanical Transmission,2021,45(05):42-49. DOI： 10.16578/j.issn.1004.2539.2021.05.007.

摘要

目前，应用于仓储货物装载转运的牵引车辆多采用平行四边形牵引转向机构，因转向轮不符合阿克曼原理，转向时滑动摩擦力大，从而会导致牵引转向操作费力。设计了一种基于阿克曼原理的梯形牵引转向机构，并运用多元非线性规划序列二次规划遗传算法对梯形牵引转向机构的构件尺寸进行优化运算，得到了更加贴合阿克曼理论曲线的尺寸参数。根据优化后的参数制作了样机，通过动力学仿真软件从转向轨迹、转向启动力矩、能量转化效率3个维度对梯形转向机构与优化前平行四边形机构进行了仿真对比实验。结果表明，优化之后的机构具有更平滑的转向轨迹、更小的转向启动力矩以及更高的能量转化效率。

Abstract

At present， parallelogram traction steering mechanism is mostly adopted in traction vehicles used in warehousing cargo loading and transfer. Because the steering mechanism does not conform to Ackermann's principle， the sliding friction force is large when steering， which will lead to traction and steering operation laborious. A trapezoidal traction steering mechanism based on Ackerman principle is designed， and uses the sequential quadratic programming genetic algorithm in multivariate nonlinear programming to optimize the specific dimensions of the trapezoidal traction steering mechanism， the size parameters which more satisfy the Ackerman principle are obtained. A prototype is made based on the optimized parameters. By using the Adams dynamics simulation software， the simulation and comparative experiment of the trapezoidal steering mechanism with the optimized parallelogram mechanism from three dimensions of steering trajectory， steering start torque， and energy conversion efficiency are carried out. The analysis results show that the optimized mechanism has a smoother steering trajectory， smaller steering starting torque and higher energy conversion efficiency.

关键词

梯形牵引转向机构阿克曼转向原理优化运算动力学分析轨迹分析

Keywords

Trapezoidal traction steering mechanismAckerman steering principleOptimization operationDynamics analysisTrajectory analysis

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