基于多体动力学理论和集成建模方法，建立了14自由度的四轮驱动、四轮转向电动车运动学模型。基于所建模型，进行典型工况的运动学仿真和车辆运动的参数化分析，仿真结果可以建立所设计制造的电动车各个车轮协调的基准数据库。%Based on the theory of multi-body dynamics and integrated modeling method, a 14 DOF kine-matics model for a four-wheel drive/four-wheel steering electric vehicle is built. On the basis of the model built, a kinematics simulation and a parametric analysis on vehicle movement in typical conditions are conducted. With the results of simulation, a baseline database can be established for the coordination between wheels of electric vehicle designed and produced.
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