扭摆下行被动移动装置的动力学建模及参数仿真

Dynamics Modeling and Parameterized Simulation of Passive Mobile Device with Twist Motion Downward

设计了一种基于能量守恒及角动量守恒原理的被动移动装置,该装置在初始瞬时推动力作用下可通过自身俯仰摆动、扭转摆动的耦合,以及与斜面接触状态的周期性改变,能够实现无动力、周期性、自稳定的沿斜面下行运动。提出了该装置的多体动力学模型,对动力学参数进行了Matlab符号计算,通过ADAMS进行了动力学仿真验证,设计制作了原理样机并进行测试。虚拟仿真和样机测试均表明,合理的运动学、动力学参数范围能够确保该装置实现多种自稳定的被动下行运动。

A passive mobile device has been designed based on energy conservation and the law of conservation of angular momentum in this paper. This device,under the action of the initial transient promotion power,can implement the coupling of self-pitching movement and self-torsional pendulum movement. With the periodic change of the contact status between device and slope,it can periodically and stably complement the movement along the slope without motive power. A multi-body dynamics model of the device is proposed,by using the Matlab ＇s symbolic computation and numerical solution to solve the kinetic parameters. By using ADAMS,the dynamics simulation and verification are completed. This paper designs the principle prototype and tests it. The virtual simulation and prototype test show that a reasonable scope of parameters of kinematics and dynamics parameters can ensure the device achieves a variety of selfstable passive downward movements.