基于RSSR机构的无碳小车运动分析及优化  

Motion analysis and optimization of the carbon-free car based on RSSR mechanism

作　　者：陈雷 刘同义[2] 许同乐[2] CHEN Lei LIU Tong-yi XU Tong-le(School of Instrument and Electronics, North University of China, Taiyuan 325000 School of Mechanical Engineering, Shandong University of Technology, Zibo 255049, China)

机构地区：[1]中北大学仪器与电子学院,山西太原325000 [2]山东理工大学机械工程学院,山东淄博255049

出　　处：《山东理工大学学报（自然科学版）》2018年第1期51-55,共5页Journal of Shandong University of Technology:Natural Science Edition

摘　　要：为解决基于空间RSSR机构"8"字形轨迹无碳小车在运行中稳定性不高的问题,采用当量平面机构法分析空间RSSR机构,对其驱动机构进行运动分析,并运用微元法计算车轮的运行方程从而建立完全参数化的系统模型.运用MATLAB的计算功能对系统运动进行仿真,得到了整体的优化方法,从而优化了小车的运动轨迹.For this problem that the ＂8＂ shaped trajectory carbon-free vehicle which based on spa- tial RSSR mechanism is unstable in the operation, this paper applies the theory of equivalent plant mechanism to analyze the spatial RSSR mechanism, does a kinematics analysis of its driving mechanism and uses the micro-element method to compute the operating equation of its wheels in order to establish a fully parameterized model. By using MATLAB computing functions to do kinematics simulation analysis of the system, this paper gets an overall optimization methods, opti- mizing the car＇s trajectory.

关 键 词：无碳小车 “8”字形轨迹 空间RSSR结构 转角 

分 类 号：TP235[自动化与计算机技术—检测技术与自动化装置]