Abstract: In order to improve the working efficiency of the transporter in the forest, this paper studies and designs a small forest crawler transporter which can be remotely controlled and automatically adjust the center of gravity according to its own movement posture. The mechanism design of each part of the whole vehicle is completed by theoretical calculation, and the trafficability of the whole vehicle under the control of the adjustable center of gravity mechanism is analyzed, and the control strategy of the adjustable center of gravity mechanism is determined. The simulation results show that after the control of the center of gravity, the machine trafficability is effectively improved, the limit Angle of the machine uphill is increased by 17.9%, the limit Angle of the transverse slope is increased by 18.3%, the limit obstacle height is increased by 18.7%, and the limit width of the trench is increased by 13.9%.

Key words: forest environment, forest crawler conveyor, adjustable center of gravity mechanism, trafficability, Recurdyn

摘要： 为提高运输车在林间的工作效率，研究设计一款能够远程遥控且能根据自身运动姿态自动调节重心的小型林间履带式运输车。通过理论计算完成整车各部分机构的设计，分析整车在可调节重心机构调控下的通过性，确定可调节重心机构的控制策略，并利用Recurdyn软件对整机进行通过性模拟仿真。仿真结果表明，经过调控重心后，整机的通过性得到有效提升，整机上坡的极限角度提高17.9%，横坡的极限角度提高18.3%，极限越障高度提高18.7%，跨壕极限宽度提高13.9%。

关键词: 林地环境, 林间履带式运输机, 可调节重心机构, 通过性, Recurdyn