汽车自动驾驶机器人换挡机械手设计
本设计是一种用于实现汽车手动变速箱自动换挡动作的换挡机械手，该机械手由换挡连杆机构和直线电机组成，换挡连杆采用7连杆机构，直线电机分为挂挡电机和选挡电机。本文对该机械手进行了结构优化设计和有限元分析，使其能在操作过程中根据指令完成换挡动作，选挡和挂挡两个方向的运动互不干涉，可实现机械解耦。并根据原始参数对各部件进行了相关校核，以确保能输出最大力和最大行程。25387
关键词：汽车驾驶机器人 连杆机构 优化设计 有限元
毕业论文设计说明书外文摘要
Title Shift mechanical arm of vehicle robot driver
Abstract
In the research of vehicle,it’s necessary to make a lot of repeated tests and experiments.To guarantee the accuracy and reliability of the experiment,these experiments and tests all need a lot of longtime,repeated driving operations.In such a longtime and high strength working environment,human driver would be difficult to guarantee the accuracy of the driving operations,so it became a development trend of the vehicle testing to develop automatic robot driver which can complete this part of deriving operations instead of human.
This design is a shifting mechanical arm which be used to complete the auto shifting operation of the manual transmission,the mechanical arm is made up of shifting link mechanism and linear motor,the shifting linkage uses the seven connecting rod mechanism.The linear motor consists of selecting gear motor and engage gear motor.This article accomplished the optimization design and the finite element analysis of the mechanical arm,which made it complete shift operation according to the instruction.And the movements of the selecting gear and engage gear will not interfere with each other,so the mechanical decoupling could be implemented.In addition,the article has made some check about the parts of mechanical arm according to the original data,to guarantee the maximum stroke and the maximum output power.
Keywords: Automatic robot driver,Link mechanism,The optimization design,The finite element
目 次
第1章 绪 论 II
1.1课题研究背景 II
1.2国内外研究现状 II
1.2.1国外研究现状 II
1.2.2国内研究现状 III
1.3驾驶机器人换挡机械手研究现状 III
1.4本课题研究内容 IV
第2章 换挡机械手整体方案设计 V
2.1换挡机械手结构分析 V
2.2换挡机械手的方案设计 VI
第3章 换挡机械手的结构设计及强度校核 VIII
3.1机械手结构设计 VIII
3.2机械手强度校核 X
3.2.1材料的选取和相关尺寸的确定 X
3.2.2机械手强度的校核结果 XI
第4章 机械手的建模与有限元分析 XV
4.1机械手的建模 XV
4.1.1建模软件的简介 XV
4.1.2机械手零部件的绘制 XV
4.2机械手的有限元应力分析 XX
4.2.1相关软件的简介 XX
4.2.2有限元应力分析 XX
4.3机械手的模态分析 XXV
4.3.1无预应力的模态分析 XXVI