【摘要】 在复杂路况下，轮腿式自动引导小车通过有坡度、沟槽等路面时，保持姿态能力保证对小车的安全行驶与定位导航精度至关重要。提出了一种新型的体积较小、承载能力强的电液式轮腿升降机构，并对升降机构进行了运动学分析，建立了其运动学模型。通过对升降机构承载性能进行分析，得到了输入转矩与输出负载的关系，并利用MATLAB软件对小车升降过程的运动进行了数值仿真，结果表明此升降机构的运动及其承载性能满足设计要求。更多还原

【Abstract】 The ability to maintain posture is very important for the wheel-legged AGV to ensure safe driving and accuracy of positioning and navigation when it passes through slopes, grooves and other complex roads. A new type of electrohydraulic wheel-legged lifting mechanism with the characteristics of small volume and strong bearing capacity has been proposed, and the kinematics analysis of the mechanism has been carried out, and the kinematic model has been established. The relationship between the input torque and the output load was obtained by analyzing the carrying capacity of the lifting mechanism, and the lifting movement of the car was simulated by MATLAB. The results presented that the movement and load-bearing performance of the lifting mechanism can meet the design requirements.更多还原