基于ADAMS的新型仿人脚形爬梯轮椅的多体动力学仿真研究

RESEARCH ON MULTI-BODY DYNAMIC SIMULATION OF HUMANOID FOOT TYPE STAIR CLIMBING WHEELCHAIR BASED ON ADAMS

基于设计的一款仿人脚形新型爬梯轮椅,利用大型工程软件Adams,对简化的轮椅建立了多体动力学模型,并进行了虚拟样机的仿真分析研究。利用Adams中IF函数和AZ函数对轮椅前后轮处施加了旋转副,并对改变驱动电机型号和改变机械脚结构参数的轮椅动力学模型进行了多次仿真实验,结论对比了爬梯机构的运动学特性,着重分析了爬梯上升过程运动的平稳性,对合理选择驱动电机型号和机械脚参数提供了依据,为类似机构运动的参数优化提供了理论基础。

Based on the design of the new type of humanoid foot shaped wheelchair and the usage of large-scale engineering software named ADMAS, to simplify the wheelchair model to establish a muhi-body dynamics system, and analyzed a virtual prototype simulation. In order to apply the rotation pairs of the front and back wheels of the wheelchair of the ADAMS and IF function and AZ function, many simulation experiments are carried out to simulate the parameters of the driving motor and the mechanical parameters of the mechanical legs. The mechanical characteristics of the key parts of the robot are compared. The kinematics curves and the mechanical curves are analyzed. And the stability of the climbing process is analyzed. It provides an important basis for reasonable selection of the model and the length of the machine, and provided a theoretical basis for the optimization design of other mechanisms.