自动寻迹车机构设计及运动仿真分析  

Mechanism Design and Motion Simulation Analysis of Auto-track-searching Vehicle

作　　者：王信信[1] 高文中[1] 冯萧[1] 

机构地区：[1]石家庄铁道大学机械工程学院,河北石家庄050043

出　　处：《石家庄铁道大学学报（自然科学版）》2017年第3期81-88,共8页Journal of Shijiazhuang Tiedao University(Natural Science Edition)

摘　　要：设计了自动寻迹车的主要机构,用Pro/E软件建立了各机构和整车三维实体模型及运动仿真模型,并进行了运动仿真分析,生成了车轮中心位置的轨迹曲线,对寻迹车进行全局碰撞仿真检测,结果表明:寻迹车运行平稳,无干涉现象。对车轮进行速度测量时,发现寻迹车右转弯速度高于左转弯速度。实车中、高速试验时,右转弯易偏离轨道。对此提出了速度控制策略,通过硬、软件结合,解决了左、右转弯速度不等的问题,样机试验表明,寻迹车在直行、起伏路面、坡道和转弯时,运行平稳,工作可靠。The main mechanism of Auto-track-searching vehicle was designed,using Pro/E software to establish three-dimensional entity model and motion simulation model of various parts as well as the vehicle.The motion simulation analysis was carried out,locus curves of the center position of wheels were generated,and the global collision simulation test of the vehicle was carried out.The results showed that the track vehicle ran smoothly,and there was no interference phenomenon.When the wheels speed were measured,it was found that the track vehicle turn-right speed was higher than turn-left.When real vehicle was tested at medium and high speed,it deviated easily from track when turning right,thus speed control strategy was proposed.The problem was solved through combination of hardware and software,and the prototype experiment showed that track vehicle ran smoothly and reliably in the straight line,over ups and downs,and at ramps and turns.

关 键 词：自动寻迹车 机构设计 运动仿真 轨迹曲线 控制策略 

分 类 号：H113.2[语言文字—汉语]