摘要随着科技的不断发展，人们生活水平的不断提升，汽车制造业在我国国内越加的繁荣昌盛，当人们挑选一辆中意的汽车时，也会对汽车各方面性能的要求越来越高。无论是良好的驾驶性、舒适性、外观等，还是相当高的安全性，都会做出一定的要求。这时就要求对汽车进行大量的试验，自动驾驶机器人的研发一方面可以免去试验时所需要驾驶员操作的负担，另外机器人拥有重复度高，操作精度高，全程测控方便等特点。 本文根据相关资料，完成了汽车自动驾驶机器人的总体设计方案。利用 CATIA软件进行了机械手和机械腿的建模，并对其进行了组装。利用 ADAMS软件对机械手和机械腿进行了动力学仿真，验证了机构的可执行性。并且在完成多刚体的机械手模型仿真之后，还对多刚体机械手进行了柔体化处理，并对其也进行了动力学仿真。仿真一方面分析了执行机构在运动过程中的动态特性，另一方面也保证了机构运动的准确性 30251
毕业论文关键词 自动驾驶机器人 机构设计 动力学仿真 CATIA ADAMS
Title Dynamics modeling and simulation of vehicle robot driver
Abstract The industry of vehicle manufacturing has been highly prosperous in our country nowadays because of the development of the science and technology ，also the increasing demand of people. While residents plan to buy cars, the performance is a significant point to affect their choice. Consumers will fit their eyes on the feeling of driving, the comfort, the appearance, especially on safety. For these reasons, we need to do a large amount of experiments on the vehicles. The invention of vehicle robot driver could reduce the burdens of the test persons, and robot drivers have the advantages such as high repeat qualities, high precisions, and the convenience of measurement and control. This article finished the total design of the vehicle robot driver by learning the relevant data. Also the 3D modeling of the mechanism design will be showed to be done by using the software CATIA. After finishing the mechanism design, the dynamics simulation has been done on the software ADAMS to verify the feasibility of the mechanism. We do the flexible treatment on the rigid multi-body system after the former simulation and do the simulation on the flexible multi-body as well. On one hand, the simulations analysis the dynamic characteristics of the actuators during the test, on the other hand ensure the accuracy of the mechanism movement.
Keywords Vehicle robot driver Mechanism design Dynamics simulation CATIA ADAMS
目 次
1 绪论 1
1.1 课题研究背景 1
1.2 驾驶机器人国内外现状 1
1.3 驾驶机器人动力学国内外现状 3
1.4 本课题的主要研究内容 5
1.5 本章小结 5
2 汽车自动驾驶机器人总体方案设计 6
2.1 引言 6
2.2 驾驶机器人的技术指标 6
2.3 总体方案设计 6
2.4 本章小结 9
3 自动驾驶机器人机构的几何建模 10
3.1 引言 10
3.2 油门机械腿的建模 10
3.3 离合机械腿的建模 12
3.4 制动机械腿的建模 14
3.5 换挡机械手的建模 15
3.6 总装配 20
3.7 本章小结 21
4 自动驾驶机器人多刚体动力学建模与仿真 22
4.1 引言 22
4.2 机器人多刚体仿真模型的建立 22 CATIA+ADAMS汽车自动驾驶机器人动力学建模与仿真:http://www.youerw.com/zidonghua/lunwen_25886.html