分析了铰接履带车辆在坡上行驶时的受力情况,建立了差速器工作与闭锁时车辆稳态行驶的力学方程,在RecurDyn软件中建立了铰接式履带车辆的多体动力学模型和差速器工作与闭锁时的驱动控制模型,进行了硬质路面、黏土路面、重黏土路面和干沙路面的爬坡仿真,分析了部分履带行走机构工作条件下的爬坡能力,分析了履刺高度对爬坡能力影响。 The mechanical behavior of articulated tracked vehicles on slopes is analyzed, and the mechanical equation of vehicle running steady when the differential works and locked is established. The multi-body dynamic model of articulated tracked vehicles is established in RecurDyn software and the difference And the drive control model of the lock-up, the climbing simulation of hard pavement, clay pavement, heavy clay pavement and dry sand pavement was carried out. The climbing ability of some crawler belts under the working conditions was analyzed. High degree of climbing ability.