Abstract
According to the changing characteristics of the geological environment of Gobi desert pollution abatement area, this paper introduces a kind of milling vehicle of 3point supporting type. The general equilibrium equations under the simultaneously surmounting obstacle by front wheels were derived using a simplified obstacle surmounting mechanical mode. As in a complex environment, the key terrain obstacle parameters are uncertain and the traction force to surmount the obstacle is also uncertain. This paper uses fuzzy sets method for terrain angle and the traction force needed by the vehicle to surmount the obstacle was calculated. By establishing a wheel-road model and using multi-dynamics software, the simulations showed that the theoretical results were reliable.
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