Abstract: In order to optimize the climbing characteristics of tracked ATV and improve the adaptability of tracked ATV to complex terrain, a DEM-MBD coupling model based on RecurDyn and EDEM is established by using the coupling algorithm of discrete element method (DEM) and multibody dynamics (MBD). Combined with orthogonal experimental design method, the influence law of road type, vehicle centroid position, ground length and speed coupling on vehicle climbing ability and stability was studied. The results show that the influence weights of all factors on the climbing ability of tracked ATV are as follows: speed>xdirection centroid coordinate>road type>ground length>ydirection centroid coordinate. Based on orthogonal test theory, the best combination of climbing ability is as follows: gravel pavement, center of mass position x=200, y=400, ground length 1 100 mm, speed 5 km/h. When the running speed of this type of vehicle is 0-5 km/h, increasing the speed and moving forward the center of mass is conducive to improving the vehicle's climbing ability. The vehicle is more stable under conditions of low speed, sandy terrain and large ground specific pressure.

Key words: crawler type, allterrain vehicles, discrete element method, particle simulation, climbing performance, stability

摘要： 为优化履带式全地形车爬坡特性，提升其对复杂地形的适应能力，利用离散元法(DEM)与多体动力学(MBD)耦合算法，建立基于RecurDyn与EDEM的DEM-MBD耦合模型，并结合正交试验设计方法，研究路面类型、车辆质心位置、接地长度、速度耦合对车辆爬坡能力与稳定性的影响规律。研究结果表明:各因素对履带式全地形车爬坡能力的影响权重为:速度>x向质心坐标>路面类型>接地长度>y向质心坐标。基于正交试验理论，爬坡能力最佳组合为:碎石路面，质心位置为x=200，y=400，接地长度为1 100 mm，速度为5 km/h；当该型车辆运行速度为0~5 km/h时，提升速度、前移质心有利于提升车辆爬坡能力；该车辆在低车速、砂土地形、较大的接地比压的情况下稳定性更好。

关键词: 履带式, 全地形车辆, 离散元法, 颗粒仿真, 爬坡性能, 稳定性