基于ADAMS的载人爬楼梯轮椅电机选型方法

摘要

针对载人爬楼梯轮椅设计过程中直流伺服电机的选型问题，提出了一种基于运动仿真软件ADAMS的电机选型方法。首先，使用Pro／E设计三维仿真模型，建立约束关系之后，将其导入 ADAMS仿真软件并设置仿真参数；经过仿真分析，进而获得机构运动学和动力学仿真数据曲线；最后，以这些数据曲线为依据，结合电机参数及特性曲线选定与机器人结构相符合的直流伺服电机。%In the paper ,the problem of DC servo motor selection during the design process of manned stair climbing wheelchair is solved by a motor selection method which is based on ADAMS .Firstly ,three‐dimensional simulation model is designed by the Pro/E and some constraint relationships are established , then it is imported in ADAMS and the simulation parameters are set up . Through the method of simulation analysis ,the data curves of kinematics and dynamics simulation of the mechanism are acquired . Finally ,based on these data curves ,the DC servo motor can be selected combining with motor parameters and characteristic curves .