基于正弦曲线和圆弧的无碳小车的S形轨迹和凸轮设计

在全国大学生工程训练综合能力竞赛中,无碳小车能够顺利地绕过障碍桩,并完成设定的轨迹,其轨迹和凸轮设计至关重要。课题组首先采用正弦曲线和圆弧设计无碳小车两后轮连接线中心点的S形轨迹,然后根据轨迹函数求得曲率,利用曲率求得小车行走每一步所对应的前轮转角,最后通过前轮转角和凸轮基圆半径求得凸轮的推程,结合凸轮转角完成凸轮的设计。经过实验验证,无碳小车能够有效地绕过障碍桩,完成S形轨迹,满足竞赛的要求。

In the national engineering training comprehensive ability competition for college students,the carbon-free car can successfully bypass the obstacle pile and complete the set track.Its track and cam design are very important.Firstly,the research group uses sine curve and circular arc to design the S-shaped track of the central point of the connecting line between the two rear wheels of the carbon-free car,then obtains the curvature according to the track function,and uses the curvature to obtain the front wheel angle corresponding to each step of the car.Finally,the push of the cam is obtained through the front wheel angle and the radius of the cam base circle,and the cam design is completed in combination with the cam angle.The experimental results show that the carbon-free car can effectively bypass the obstacle pile and complete the S-shaped track,which meets the requirements of the competition.