چكيده به لاتين
In this thesis, the conceptual design of the body and structure for a six-wheeled autonomous vehicle, in which each wheel is connected to the body by a rotating arm independently, is investigated. The connection of the wheels to the body with this method allows the vehicle to pass obstacles by changing the position of the wheels relative to each other and raising and lowering some of them. To design this vehicle, in the first section the ability to cross six-wheel drive vehicles in general is studied on various obstacles such as step obstacles, platforms and pits. In addition to examining the impact of vehicle dimensional parameters on this capability, the process of determining the optimal dimensions for the vehicle is described in order to achieve a passable obstacle height or a passage width. In the second part, the balance and stability of these vehicles during lifting of the wheels and their static overturning on the sloped surfaces are investigated and the conditions for maintaining balance in different situations are expressed and the impact of the dimensional and massive parameters of these vehicles on their rollover thresholds have been determined for different slopes. After recognizing and determining the impact of each of the parameters, the dimensions of the vehicle in this thesis are determined such that the vehicle could pass through a step barrier with a height of one meter and a pit with a width of 1.3 Meters, and also be able to be positioned on a 75-degree longitudinal slope and a 60-degree gradient in terms of statically. In the third section, considering the dimensions of the vehicle and the amount of cargo to be carried, initially the forces are investigated on the vehicle and each of its structural parts were analyzed and after determining the maximum loads by analytical method, the results have been compared and validated by Adams software. Then, in order to determine the optimal shape of the structure for these vehicles, considering the initial aluminum space frame for the vehicle, the torsion and bending strength and stiffness of them were investigated with the Abacus software, and then by optimizing the topology of the initial chassis, a final design was presented to reduce its weight in order for the final design of the optimization with a weight of about 47% of the original design still has enough strength and rigidity. Following this, the arms have been designed and their strength has been analyzed. The results show that in light of the designed structure and body, this vehicle has a suitable resistance to weight in addition to the high capacity to overcome obstacles and traffic on sloped surfaces.
