摘要
提出了一种换挡负载波动模拟方法,分析了负载波动下的驾驶机器人换挡机械手的动力学特性。搭建了包含机械手末端负载波动模型的换挡机械手动力传递模型。在负载波动模型中,将负载分解为挂挡方向负载和选挡方向负载。提出了一种神经网络挂挡负载模型,并通过试验数据对比验证了该模型的有效性。对换挡机械手在负载波动下的动力学特性进行了分析,对末端负载变化对换挡机械手换挡轨迹跟踪的影响进行了验证。
A simulation method of shift load fluctuation was proposed,and the dynamics characteristics of shift manipulators of driving robot under load fluctuation were analyzed.A power transmission model of shift manipulators including the end load fluctuation model of the manipulators was established.In the carrier motion model,the load was decomposed into selecting direction load and shifting direction load.A neural network gear load model was proposed,and the experimental data were compared to verify the effectiveness of the proposed model.The dynamics characteristics of the shift manipulators under load fluctuations were analyzed.The effects of end load changes on the trajectory tracking of the shift manipulators were verified.
作者
周楠
陈刚
ZHOU Nan;CHEN Gang(School of mechanical Engineering,Nanjing University of Science and Technology,Nanjing,210094)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2020年第4期472-481,共10页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51675281)
江苏省六大人才高峰计划资助项目(2015-JXQC-003)
中央高校基本科研业务费专项资金资助项目(30918011101)
江苏省研究生科研与实践创新计划资助项目(SJCX18-0146)。
