基于新型双功率流差速转向机构的履带车辆转向性能

Steering mechanism directly affects steering performance of tracked vehicles. Because the traditional differential steering mechanism with twin driving can only realize a limited number of steering radius and often requires the sliding grinding of brake and other components. A new type of differential steering mechanism with twin driving with continuous steering radius and avoiding wear was designed, and kinematic model differential steering mechanism of the two motor shafts(input) and the rotational speed with two shaft(output) between was established. According to relationship between the tracked vehicles steering radius and two shafts speed, kinematic model between the two motor shafts of the tracked vehicles (input) speed and the steering radius were obtained. Finally, a comprarative study of motion simulation and theoretical was analyzed. The steady steering model of tracked vehicle considering width, skids and slips was established. The results show that the maximum relative error of rotation speed between the simulation results and the theoretical values is 1.50%, and the tracked vehicle can achieve continuous steering radius, which can provide theoretical basis for the steering control of the tracked vehicles and the structural optimization of the differential steering mechanism.