轮履复合式变形车轮机构参数分析

针对非结构环境地形的特点，结合轮式、履带式移动机构在复杂地形环境中的运动特点，提出了一种可在轮式、履带式之间进行自由切换的轮履复合式变形车轮的设计。利用序列二次规划算法，得出了变形车轮各机构参数对接地长度的影响，为最优化机构参数的确定提供了理论基础。分析机构参数对车辆通过性能影响，其结果研究表明：变径比越大，与轮式模式相比，履带式运动的越障优势越明显；同时，相对履带式运动而言，轮式运动快速灵活的优势也越明显。

Parametric Analysis for Mechanism of Wheel-Track Transformable Wheel

For features of unstructured ground environments, considering the moving mechanism of wheel and track in complex terrain environment movement, a new wheel-track transformable wheel, which can changes its travelling mode according to the ground environment, is proposed. Obtain the effect of the transformable wheel mechanism parameters on maximum grounding-length by using sequential quadratic programming (SQP), which provides the theoretical basis for determine the optimization mechanism parameters. Analysis results of mechanism parameters influence on passability show that, with the increase of the diameter-varying ratio, the track mode may result in a more obvious capability in obstacle performance than the wheel mode. Meanwhile, compared with the track mode, the wheel mode is more fast and flexible.