基于RSSR机构的无碳小车结构设计与运动分析  

Structural Design and Motion Analysis of Carbon-free Trolleys Based on the RSSR Mechanism

作　　者：何隆 张亚[1] 王芙蓉 韩子丰 冀赵辉 He Long;Zhang Ya;Wang Furong;Han Zifeng;Ji Zhaohui(College of Mechatronics Engineering,North University of China,Taiyuan 030051,China;School of Mechanical Engineering,Hebei University of Science and Technology,Shijiazhuang 050018,China)

机构地区：[1]中北大学机电工程学院,山西太原030051 [2]河北科技大学机械工程学院,河北石家庄050018

出　　处：《机械传动》2022年第11期77-81,共5页Journal of Mechanical Transmission

基　　金：山西省研究生教育创新项目(2022Y593)。

摘　　要：针对无碳小车运动过程中存在的轨迹跑偏、调试缺乏参考的问题,选用RSSR机构作为转向装置,基于空间四连杆机构的运动特性,建立了小车避障运动的数学模型;从运动学角度分析了空间四连杆各参数变化对小车轨迹的影响,并从动力学角度探究了四杆参数变化对其运动过程的影响,得出基于RSSR机构的无碳小车运动的一般规律;对小车进行实物调试证明,小车能够平稳运行并成功避过30个障碍物。文中所建立的数学模型及对RSSR机构进行研究所得出的小车运动规律对无碳小车的实际调试具有较高的工程指导意义。Aimed at the problems of track deviation and lack of reference for debugging during the move⁃ment of carbon-free trolleys,the RSSR mechanism is selected as the steering device,and the mathematical mod⁃el of obstacle avoidance motion of the trolley is established based on the motion characteristics of the spatial four-bar linkage.The influence of the parameters of the spatial four-bar linkage on the trajectory of the trolley is analyzed from the kinematics point of view,the influence of the parameters of the four-bar linkage on its motion process is further explored from the dynamics point of view,and the general law of the trolley motion of the RSSR mechanism is obtained.Finally,the actual debugging of the trolley shows that the trolley can run smoothly and successfully avoiding 30 obstacles.The mathematical model established and movement law of the car ob⁃tained from the research of the RSSR mechanism are of great engineering guiding significance for the actual de⁃bugging of carbon-free trolleys.

关 键 词：无碳小车 RSSR机构 运动仿真 结构设计 

分 类 号：TH122[机械工程—机械设计及理论]