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

Han Dongtao1, 2, Liu Jinhao*, 1, Kan Jiangming1, Tang Weiguo1
1 Beijing Forestry University, Beijing 100083, China
2 Hulunbuir College, Inner Mongolia Automomous Region 021000, China

© 2015 Dongtao et al

open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: ( This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

* Address correspondence to this author at the Beijing Forestry University, Beijing 100083, China; Tel: 010-62336204; Fax: 010-62336204;


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.