【摘要】 本文对无轮缘车轮的运动学、动力学进行了较详细的理论研究。依据轮齿对土壤的切向和法向作用,提出了计算该轮子推进力、行驶阻力的数学模式,并在用电子计算机对理论公式进行计算的基础上,归纳出简单实用的计算公式。同时亦提出了评价轮式行走机构动力性能的两个指标及其理论计算式。试验结果说明,按上述理论公式计算的预测值和实测值之间表现了良好的一致性。更多还原

【Abstract】 The kinematics and kinetics of the rim-less wheels have been theoretically researched in this paper. According to the normal and tangential forces of a single tooth acting upon soils, the formulas of the tractive effort and motion resistance about rimless wheels have been proposed. Especially based on the computing of the formulas with computer, a refined formula for predicting the tractive effort has also been put forward, moreover, advancing two indices and its formulas in order to evaluate wheel’s dynamics.In addtion, the values by theoretically calculation and experimentally measurement for a testing rimless wheel are consistent with each other.更多还原