RSSR机构无碳小车轨迹影响研究

Study on the influence of carbon-free car trajectory of RSSR mechanism

无碳小车是全国大学生工程训练项目之一。利用空间RSSR机构对无碳小车进行控制,相对于其他控制机构而言,其最大的优势在于机构参数调节的灵活性,但随意地调节空间RSSR机构参数会遇到多种小车轨迹形状与预期不相符的问题。故文章采用MATLAB对基于空间RSSR机构的无碳小车进行数学建模后,调节空间RSSR机构不同参数并进行仿真,总结出空间RSSR机构各参数对无碳小车轨迹的影响。将结论用于对无碳小车轨迹的精确调节,以缩短调节时间。

Carbon-free car is one of the national engineering training projects for college students.The spatial RSSR mechanism is used to control the carbon-free vehicle.Compared with other control mechanisms,the biggest advantage of the spatial RSSR mechanism is the flexibility of parameter adjustment of the mechanism.However,the random adjustment of spatial RSSR mechanism parameters will encounter many problems that the trajectory shape of the vehicle is not consistent with the expected.Therefore,this paper adopts MATLAB to conduct mathematical modeling of the carbon-free vehicle based on the spatial RSSR mechanism,adjusts the different parameters of the spatial RSSR mechanism and carries out simulation,and summarizes the influence of the parameters of the spatial RSSR mechanism on the trajectory of the carbon-free vehicle.The conclusion is applied to the precise adjustment of the trajectory of the carbon-free trolley,so as to shorten the adjustment time.