汽车驾驶机器人换挡机械手驱动力仿真优化

摘要

As the complexity of the shift manipulator structure of vehicle robot driver,the mathematics description of kinematics and dynamics analysis are difficult.Computer virtual simulation technology provides a basis for the characteristic analysis of the shift manipulator.In order to solve the yaw of the original shift manipulator driving mechanism,gear selecting and gear shifting push rods were added to improve the two-degree freedom of seven-bar parallel linkage mechanism.A virtual prototype model of the improved shift manipulator was established with ADAMS/View,and the simulation and optimization are conducted.The simulation results show it is effective to solve the yaw of the original shift manipulator.Based on the above,taking the length of gear selecting and gear shifting push rods as design variables,and taking the minimization of the driving force of the shift manipulator as optimization objective,the structure parameter optimization of the shift manipulator was conducted with Design Evaluation model of ADAMS/View.The simulation results demonstrate the effectiveness of the optimization.It provides a basis of practical engineering application.%由于汽车驾驶机器人换挡机械手结构的复杂性,使得机械手运动学与动力学分析的具体数学描述较为困难,而计算机虚拟仿真技术,为换挡机械手的特性分析提供了依据.为解决原换挡机械手驱动机构的横摆问题,通过增设选挡推杆及挂挡推杆,改进原七连杆二自由度并联机构.在ADAMS/View中建立了改进后换挡机械手机构的虚拟样机模型并进行了运动仿真,仿真结果验证了改进后的换挡机械手解决原换挡机械手驱动机构横摆问题的有效性.在上述基础上,以选挡推杆及挂挡推杆的长度为设计变量,以换挡机械手的最大驱动力最小为优化目标,利用ADAMS/View中Design Evaluation模块对挡机械手进行了结构参数优化,取得了较好的优化效果,为实际工程运用提供了依据.