基于Adams的安全阀搬运自动导向车原地转向力学仿真研究

MECHANICAL SIMULATION RESEARCH ON IN SITU STEERING OF AUTOMATIC STEERING VEHICLE FOR HANDLING SAFETY VALVE BASED ON ADAMS

根据安全阀搬运上下料的工作要求,设计了一款安全阀搬运自动导向车。针对建立的搬运车原地转向力学模型,利用Adams仿真软件进行了虚拟样机的仿真分析研究,对不同轮地摩擦因数、转向加速时间和偏心距等参数下的转向运动进行了多次仿真实验,基于仿真得到的旋转中心位移曲线及三维空间内位移相对值的离散点,对比分析了不同参数值对转向稳定性的影响,仿真结果和样机试验验证了理论分析的正确性,为搬运车机械结构的优化和控制系统设计提供了基础。

According to the requirements of loading and unloading of safety valve, an automatic guide vehicle for safety valve handling is designed. Aiming at the established mechanical model of in-situ steering of truck, the simulation analysis of virtual prototype is carried out by using ADAMS simulation software. The steering motion under different wheel ground friction coefficient, steering acceleration time and eccentricity is simulated for many times. Based on the simulation curve of rotation center displacement and discrete points of relative displacement value in three-dimensional space, the uncertainty is compared and analyzed The simulation results and prototype tests verify the correctness of the theoretical analysis, which provides a basis for the optimization of the mechanical structure and the design of the control system of the carrier.