REVIEW ARTICLE


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

Article Information


Identifiers and Pagination:

Year: 2015
Volume: 9
First Page: 670
Last Page: 677
Publisher Id: TOMEJ-9-670
DOI: 10.2174/1874155X01509010670

Article History:

Received Date: 17/2/2014
Revision Received Date: 21/3/2015
Acceptance Date: 9/6/2015
Electronic publication date: 16/9/2015
Collection year: 2015

© 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: (https://creativecommons.org/licenses/by/4.0/legalcode). 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;


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.