轮腿式车轮设计与仿真分析
毕业设计论文
姓 名： 学 号： 学 院： 专 业：
题 目：
指导教师： 范雪兵 讲师 (姓 名) (专业技术职务)
2014 年 6 月
轮腿式车轮设计与仿真分析
题目：轮腿式特殊结构车轮设计
摘 要
本文设计了一种能适应不同野外环境的轮腿式特殊车轮。利用轮腿结合的方式实现越障，具有很强的越障能力。本文对轮腿式特殊车轮整体结构作了设计，通过对车轮，腿臂，车身等进行设计，对轮腿做了性能分析，在Pro/E 设计环境下，对车轮进行装配，排除干涉.验证结构的正确性。
本文基于虚拟样机技术，对轮腿式车轮建模，并进行运动学仿真分析。根据分析设置车轮定位参数的设计变量。从而为设计和改进提高快速，可靠的技术依据，以达到大幅度降低设备研制成本的目的。本论文的主要内容包括：据轮腿式特殊结构车轮的性能要求，对结构进行分析，并简要描述悬架的主要参数；基于机械动力学仿真软件ADAMS，在ADAMS/View界面下建立车轮模型，初步仿真，测试车轮模型；通过对车轮的建模以及优化计算，可以获得目标函数，即车轮圆心、大臂和小臂的转动角速度，从而得到各设计参数的优化解。在轮腿式特殊车轮的设计过程中，利用虚拟样机技术，使用ADAMS软件建模并仿真，可以缩短产品的设计周期，提高了设计质量，而且可以在虚拟环境下对样机进行各种性能测试，避免资源的损耗，降低了产品的设计和开发成本。特别是对于环境恶劣的月球，在当前的实验室中该环境是很难模仿的，而在ADAMS软件下，这种环境的建立变得方便许多，使得到的数据更加真实、可靠。
关键词：虚拟样机；动力学仿真；越障机构；轮腿式车轮
Ⅰ
轮腿式车轮设计与仿真分析
Abstract
This article describes the design of a Wheel-legged special wheels can adapt to different field environment. The combined wheel leg mode surmounting, has a strong s obstacle climbing capability. In this paper, the design of Wheel-legged special wheel structure, through the wheel, leg and arm, the body of the design, the Wheel-legged do performance analysis, in the Pro/E design environment, the wheel assembly, eliminating interference. Verify the correctness of the structure.
Based on the virtual prototyping technology, the Wheel-legged wheel and modeling, kinematics simulation. According to the analysis of the design variables set the wheel alignment parameters. In order to improve the design and the rapid, reliable technical basis, in order to greatly reduce the development cost of the device. The main content of this paper include: According to the performance requirements of wheel legged special structure of the wheel, the structure is analyzed, and a brief description of the main parameters of suspension; Mechanical dynamics simulation software based on ADAMS, a wheel model, in the ADAMS/View interface simulation, test wheel model;Through the modeling of the wheel and the optimization calculation, can obtain the objective function, namely the angular velocity of rotation wheel center, big arm and the small arm, optimization to get the design parameters of the solution. In the design process of wheel legged special wheel, using the virtual prototype technology, the use of ADAMS software modeling and simulation, the design cycle can be shorten, improve design quality, but also can be a variety of performance test on the prototype in the virtual environment, to avoid wastage of resources, reduce the cost of product design and development. Especially for the environment of the moon, in the current laboratory in this environment is very difficult to imitate, and in the ADAMS software, establish the environment becomes convenient many, get more real, reliable data.
Key words：Wheel-legged wheel; Obstacle crossing mechanism; Virtual prototype; Simulation
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轮腿式车轮设计与仿真分析
轮腿式车轮设计与仿真分析
目 录
摘要 ............................................................................................................................. II Abstract ....................................................................................................................... II
第1章 绪论 ......................................................................................................... - 2 -
1.1引言 ............................................................................................................ - 2 -
1.2轮腿机器人研究现状及趋势 .................................................................... - 2 -
1.2.1国内外发展现状 .............................................................................. - 3 -
1.2.2现有轮腿移动机器人结构分类 ...................................................... - 4 -
1.3轮腿式移动机器人关键技术的研究 ........................................................ - 4 -
1.4本章小结 .................................................................................................... - 5 -
第2章 虚拟样机技术 ......................................................................................... - 6 -
2.1虚拟样机技术的发展 ................................................................................ - 6 -