开环轨迹无碳小车设计与误差分析  

Design and Error Analysis of Open-Loop Trajectory Carbon-Free Trolley

作　　者：张晓敏 张子涵 李航 樊智勇 ZHANG Xiaomin;ZHANG Zihan;LI Hang;FAN Zhiyong(Engineer and Technology Training Centre,Civil Aviation University of China,Tianjin 300300,China;School of Aeronautical Engineering,Civil Aviation University of China,Tianjin 300300,China;School of International Exchange,Xiangtan University,Hu’nan Xiangtan 411105,China)

机构地区：[1]中国民航大学工程技术训练中心,天津300300 [2]中国民航大学航空工程学院,天津300300 [3]湘潭大学国际交流学院,湖南湘潭411105

出　　处：《机械设计与制造》2025年第1期178-183,共6页Machinery Design & Manufacture

基　　金：教育部第二批新工科研究与实践项目(E-CXCYYR20200910);天津市普通高等学校本科教学质量与教学改革研究计划项目(B201005902,B231005901);中央高校基本科研业务费专项资金项目(3122017020);中国民航大学教育教学改革与研究项目(CAUC-2022-B2-022)。

摘　　要：为实现无碳小车开环轨迹运动,设计并制作了一种基于凸轮机构的无碳小车,可以通过更换凸轮实现不同开环轨迹的运动。首先,结合小车功能要求,设计出小车的整体结构和基本参数,其次,根据已知坐标点利用贝塞尔曲线对理论轨迹进行拟合,获得前轮转角曲线及推程曲线并将其极坐标化得到理论凸轮轮廓,经凸轮原理分析,对凸轮轮廓包络处理,获得实际凸轮轮廓曲线。最后,根据小车实际运行轨迹在MATLAB中进行参数反推仿真,模拟误差产生方式,得出最优调整方案。结果表明,凸轮基圆直径和转向偏距对开环运动轨迹均有影响,其中,凸轮基圆直径对整体运动轨迹影响较大,可作为整体轨迹修正参数;转向偏距对中后程运动轨迹产生旋转偏移,可作为局部轨迹修正参数。文中所述模型及对轨迹误差的研究具有普适性,对开环轨迹小车调试具有较高的指导意义。In order to realize the open-loop trajectory motion of the carbon-free trolley,we designed and fabricated a carbon-free trolley based on cam mechanism,which can realize the motion of different open-loop trajectories by replacing cams.Firstly,the overall structure and basic parameters of the trolley are designed in combination with the functional requirements of the trolley.Secondly,the theoretical trajectory is fitted according to the known coordinate points using Bessel curves to obtain the front wheel angle curves and pushover curves,and then the theoretical cam contour is obtained by polarization,and the cam contour is envel⁃oped by the analysis of the cam principle,so as to obtain the actual cam contour curve.Finally,according to the actual running trajectory of the trolley,parameter inversion simulation is carried out in MATLAB to simulate the way of generating errors and derive the optimal adjustment scheme.The results show that the cam base circle diameter and steering offset have influence on the open-loop trajectory,in which the cam base circle diameter has a greater influence on the overall trajectory,which can be used as the overall trajectory correction parameter;The steering offset produces rotational offset to the middle and backward trajectories,which can be used as the local trajectory correction parameter.The model and the study of trajectory error described in the paper are universal and of high guiding significance for the commissioning of open-loop trajectory trolley.

关 键 词：无碳小车 开环轨迹 贝塞尔曲线 MATLAB仿真 误差分析 

分 类 号：TH16[机械工程—机械制造及自动化] TH112