The Open Mechanical Engineering Journal

2015, 9 : 670-677
Published online 2015 September 16. DOI: 10.2174/1874155X01509010670
Publisher ID: TOMEJ-9-670

Analysis of a Kinematic Model for a Forestry Six-Wheeled Luffing Articulated Vehicle Chassis

Han Dongtao , Liu Jinhao , Kan Jiangming and Tang Weiguo
Beijing Forestry University, Beijing 100083, China

ABSTRACT

The chassis is a key component of forestry vehicular equipment that directly determines its ability to drive and climb in rough mountainous or forested terrain. A six-wheeled luffing articulated chassis was designed to scale obstacles on forested land. This paper discusses the use of the Devanit-Hartenberg method to establish a kinematic model for this vehicle chassis; positive solutions of the kinematic model were then applied to an analysis of the luffing capabilities of the six-wheeled luffing articulated chassis. Theoretical calculations, simulations, and experimental results showed that the established kinematic model can be applied to the development and production of forestry equipment.

Keywords:

D-H kinematic model, luffing ability, six-wheeled luffing articulated chassis.