以正弦机构控制转向的无碳自行小车研究  

Research on the carbon-free car steering controlled by the sinusoidal mechanism

作　　者：黄伟[1] 孙笑[2] 黄飞虎 HUANG Wei;SUN Xiao;HUANG Fei-hu(State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400030;College of Machinery and Automation,Wuhan University of Science and Technology,Wuhan 430081;Information Center,Tibet Autonomous Region Geology and Mineral Exploration and Development Bureau,Lhasa 850000)

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400030 [2]武汉科技大学机械自动化学院,湖北武汉430081 [3]西藏自治区地质矿产勘查开发局信息中心,西藏拉萨850000

出　　处：《机械设计》2018年第8期30-35,共6页Journal of Machine Design

摘　　要：设计了一种以重力势能驱动的正弦机构控制转向的无碳自行绕障小车。该小车以提供的标准砝码的重力势能(400 J)作为能量来源,无需提供其他形式的能量输入。小车由转向控制系统、机械传动系统和行走控制系统等子系统组成,其中转向控制系统根据正弦机构的原理进行设计。通过建立数学模型和MATLAB模拟仿真得到小车各参数的优化值,最后经过试验验证得到:以正弦机构作为无碳小车的转向控制机构,小车运行平稳,其运行轨迹为"8"字形,能有效绕开赛道上的障碍物。该小车的设计为无碳自行小车的整体设计提供指导意义。A kind of carbon-free car driven by the gravitational potential energy and turned by the sinusoidal mechanism is designed, which can bypass obstacles in an automatic manner. The car adopts the gravitational potential energy（400 J） of the standard weight as a source of energy, and does not need other forms of energy input. The car consists of the subsystems such as the steering control system, the mechanical transmission system, and the walking control system. The steering control system is designed according to the principle of sinusoidal mechanism. By means of the mathematical model and MATLAB simulation,the optimal value of the car parameters is obtained. Finally, the experimental results show that benefiting from the sinusoidal mechanism, the car proceeds in an unimpeded manner, with its trajectory of the number 8, and bypasses all kinds of obstacles on the track. The car design provides guidance for the design of carbon-free cars.

关 键 词：重力势能 正弦机构 无碳小车 转向系统 

分 类 号：TH122[机械工程—机械设计及理论]