基于ADAMS的有轨引导小车运动学仿真及设计改进

Kinematics Simulation and Design Improvement of Rail Guide Vehicle(RGV)Based on ADAMS

为评估RGV小车设计的合理性,利用ADAMS软件建立了RGV小车虚拟样机模型并对所建模型进行运动学仿真。仿真结果显示RGV小车大体运行良好,但有自动转弯趋势。这是由于小车结构的限制,电机只能安装在轴的一侧,从而导致了轴的变形不协调。根据仿真得到的信息对小车的设计进行改进,减少和避免轴变形不协调,改善了小车运行性能。通过仿真找出和发现RGV小车设计中潜在的问题,既缩短小车的开发周期又降低开发成本。

In order to evaluate the reasonability of RGV,the virtual prototype model of RGV was built and the kinematic of the model had been simulated by the software ADAMS.Simulation results show that RGV generally runs well,but has a tendency of automatic turning.Due to structural limitation,the motor can only be installed on the one side of the axis ,resulting in uncoordinated deformation of the shaft.Accord- ing to the simulation results ,we can improve the structure of the RGV by the reduction and avoidance of the uncoordinated axial deformation,improving kinematic performance.By kinematic simulation,the potential problems of the structure reasonability could be identified during the RGV prototype design,which reduces the development cycle and costs.