空间RSSR机构的优化设计与应用

摘要

为了实现空间运动的传递,应用空间RSSR机构解析法中的矢量回转法和旋转矩阵法建立传动杆系与转向梯形的空间数学模型.参考FSAE赛车后悬数据,根据双阿卡曼定理,以转向过程中后轮内外侧实际转角和理论转角偏差的绝对值作为目标函数,应用MATLAB完成空间转向梯形的优化设计,导出转向梯形输入与输出运动关系曲线,根据转向梯形优化后自变量取值绘制传动杆系运动关系曲线,得出后轮转向杆系的角度传动关系,最后利用ADAMS建立仿真模型并进行运动仿真,验证理论分析的合理性,为减速装置(蜗杆传动)的传动设计提供基础.%In order to achieve thetransmissionof spacemotion,employing the vector rotation and rotationmatrix methods of the space RSSR analytic method to establishthe spacemathematical model of the transmission rodsystemand the steering trapezoid.Referring to FSAEtest racing car rear axledata,according to the doubleAckermanntheorem,take the absolute values ofthe rear wheel inward and outward actual steering angles and theoretic steering angle deviation during the steeringprocessas the objective function,use MATLAB to complete theoptimized designof the spacesteering trapezoid,derivethe inputandoutput motion relation curve of the steeringtrapezoid,draw the motion relation curve of the transmission rodsystem based onthe argument values afierthesteeringtrapezoid optimization,and concludethe angle drive relation ofthe rear wheel transmissionleversystem.The ADAMS simulation model is established and kinematicssimulation is done to verify the rationality of the theoretical analysis,to provide the basis for the gear ratiodesign of the reduction gear(wormdrive).