汽车驾驶机器人换挡机械手运动仿真分析  

Kinematics simulation of automobile gear shifting manipulator

作　　者：牛喆[1] 牛志刚[1] 

机构地区：[1]太原理工大学机械工程学院,山西太原030024

出　　处：《中国农机化学报》2013年第4期197-200,共4页Journal of Chinese Agricultural Mechanization

摘　　要：设计了一种新型的汽车排放试验用驾驶机器人换挡机械手,利用CATIA软件建立换挡机械手的三维模型,把模型导入到ADAMS中进行后续的约束与驱动的添加,从而得到换挡机械手的虚拟样机,然后对换挡机械手虚拟样机进行仿真分析,得到了换挡机械手手爪的位移、速度、加速度之间的关系,验证了所建立的换挡机械手模型是可行的,能够满足实际工况的需要,并为后续的优化设计和样机制造提供了参考依据。A prototype of automobile gear shifting manipulator for vehicle emission test was designed and developed.Then the three dimensional model of the gear shifting manipulator was builded up by using CATIA software and the model was imported into ADAMS software and turned into a virtual prototype of the manipulator.Then the virtual prototype was analyzed in ADAMS,the relationships among the displacement、 the velocity and the acceleration were obtained about the paw of the gear shifting manipulator.The simulation results reflect that the three dimensional model was able to meet the need of the actual working conditions.It also provided the reference for the follow design.

关 键 词：驾驶机器人 换挡机械手 虚拟样机 运动仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]