基于主动后轮路径规划的热能小车凸轮机构设计  被引量:1

Design of thermal-energy trolley's cam mechanism based on active rear-wheel trajectory planning

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作  者:黄伟杰 刘朝晖 肖忠跃[1,2] 魏取龙 游敏俊[1] 王孚禄 HUANG Weijie;LIU Zhaohui;XIAO Zhongyue;WEI Qulong;YOU Minjun;WANG Fulu(School of Mechanical and Electrical Engineering,Jinggangshan University,Ji'an 343009;Demonstration Center of Engineering Training Experimental Teaching,Jinggangshan University,Ji'an 343009)

机构地区:[1]井冈山大学机电工程学院,江西吉安343009 [2]井冈山大学工程训练实验教学示范中心,江西吉安343009

出  处:《机械设计》2023年第12期86-90,共5页Journal of Machine Design

基  金:江西省教改项目(JXJG-21-9-11);吉安市科技计划项目(20211-055312);江西省教育厅科学技术研究项目(GJJ2201618)。

摘  要:近年来,工程训练大赛基础赛道绕桩规则呈现出越来越复杂的特性,而采用凸轮控制成为必然趋势。文中提出一种先规划主动后轮运动轨迹,再依据从动后轮、前轮与主动后轮之间的几何结构关系,求解得到各车轮运动轨迹,然后依据前后轮斜率、凸轮偏距和基圆半径求解得到凸轮形状的方法。结果表明,依据该方法设计的凸轮能顺利实现绕桩运动,同时,对主动后轮路径规划能够直观地反映出小车运动趋势,且具备较好的修改调整特性,适合复杂运动轨迹运动的规划和简化。In recent years,the pile-winding rules of foundation track in the engineering training competition are more and more complex,so it is inevitable to use the cam control.In this article,firstly the active rear-wheel's motion trajectory is designed,and then the motion trajectory of each wheel is solved according to the geometric structure relationship between the driven rear wheel,the front wheel and the active rear wheel;besides,the cam shape is solved according to the front-andrear wheel slope,the cam offset,and the base circle radius.The results show that the cam designed according to this method can smoothly realize the motion of pile winding.At the same time,the trajectory planning of the active rear wheel clearly reflects the trolley's motion trend,and is easy to modify and adjust,which is suitable for planning and simplification of complex motion trajectories.

关 键 词:路径规划 凸轮 热能小车 后轮 

分 类 号:TH122[机械工程—机械设计及理论]

 

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