汽车驾驶机器人换档机械手的设计及仿真

Design and simulation of vehicle robot driver's gear shifting manipulator

针对汽车换档操纵杆的特殊运动轨迹,设计了一种应用于汽车尾气排放试验的新型驾驶机器人换档机械手,采用平面五连杆机构作为机械手的传动机构并搭配新型末端执行器来完成换档动作。鉴于换档机械手工作空间较小,对换档机械手采用惩罚函数法以优化机构尺寸。考虑连杆机构装配条件、机构动力学特性和工作空间的约束,设置连杆杆长之和最小为目标函数,得到最优解。并在SolidWorks软件中建立样机模型,应用Simulink进行机构运动学仿真,应用ANSYS Workbench进行力学分析,为机构的优化设计提供了一种高效的仿真手段。仿真结果表明,换档机械手在选档与挂档动作中可在0.1s内做出响应,在规定时间和速度下完成动作,满足国家对汽车换档的标准要求。通过力学仿真验证了换档机械手的参数和模型的合理性。结果表明,换档机械手可以实现选档和挂档动作,运动平顺性较好,有良好的实际应用价值。

A new driving robot shifting manipulator for vehicle exhaust emission test is designed for the special motion trajectory of the car shifting joystick. The gear shifting operation is completed by adopting the planar five-bar linkage mechanism as the transmission mechanism of the manipulator plus the new end effector. Due to the small working space of the gear shifting manipulator, the penalty function method is applied to optimize the size of the mechanism. Considering the assembly condition of the linkage mechanism, the dynamics of the mechanism and the constraint of the working space, the minimal sum of the lengths of the connecting rods is set to the objective function to obtain the optimal solution. The prototype model is built in SolidWorks software, the mechanism kinematics simulation is conducted by Simulink, and the mechanical analysis is performed by ANSYS Workbench, which provides an efficient simulation method for the optimization design of the mechanism. The simulation results show that the shifting manipulator can respond within 0.1s during the gear selection and the gear shifting action, and the action can be completed at the specified time and speed to meet the national standard requirements for car shifting. The parameters of the shifting manipulator and the rationality of the model are verified by mechanical simulation. The results show that the shifting manipulator can achieve the selection and the shifting action, and the movement is smooth, indicating a good practical application value.