多轴转向系统的运动学仿真及优化设计

Kinematics Simulation and Optimization Design of Multi-axis Steering System

以10×6型汽车起重机转向系统为研究对象,根据汽车转向理论阿克曼定理建立了多轴转向系统的数学模型及运动学模型,运用ADAMS对模型进行运动学仿真及转向性能分析。在分析了轴间内轮转角误差及各轴内外轮转角误差的基础上,选取转向机构上的几个硬点坐标为设计变量,分别以轴间内轮转向角累计误差和各轴内外轮转向角累积误差最小为优化目标,运用ADAMS对转向机构的Ⅱ轴、Ⅴ轴进行轴间内轮转角和Ⅰ轴内外轮转角进行了优化设计,最后对优化后的模型进行试验验证。

The steering system of a 10×6 typed truck crane is used as the research object,the mathematical model and kinematics model for the steering system are established according to the automotive steering theory,then the kinematics simulation and analysis of the steering performance in the ADAMS are complished. Basing on the analysis of the inner steering angle error between the axes and the error between the inner and outer steering angle of the axis,a few hard point of the steering mechanism are chosen by using the coordinates as design variables.Responsively taking the cumulative error of the inner steering angle between axes and between the inner and outer steering angle as the optimization objective,the inner steering angle between axes and the inner and outer steering angle of the first shaft is optimized,finally the optimization model is verified by using the experiment.