“8”字轨迹无碳小车凸轮逆向仿真分析与设计

Reverse simulation analysis and design of"8"-shaped trajectory carbon-free car's cam

为了实现无碳小车完成特殊对称“8”字形轨迹并绕过预设障碍桩,文中采用一种通用的无碳小车凸轮设计方法,通过对影响轨迹的各个参数进行分析,使用余弦曲线拼接出了G2级曲率连续曲线,提出了基于凸轮摆杆机构和SolidWorks软件中Motion的轨迹逆向分析方法。通过优化设计更换由绕桩轨迹仿真逆推的凸轮零件,完成不同类型的特殊对称“8”字形轨迹,并对小车进行了正向运动仿真和小车最终行走轨迹试验,验证了该方法的可行性及准确性。

In this article,in order to ensure that the carbon-free car can complete the symmetrical 8-shaped trajectory and bypass the preset barrier pile,efforts are made to put forward a general design method for the carbon-free car's cam.The analysis is conducted on all the parameters which affect the trajectory;the cosine curve is used to work out the continuous curve of the G2 curvature changing rate;based on both the cam's pendulum mechanism and Motion in Solid Works,the reverse method is proposed to analyze the trajectory.By designing and replacing the related cam parts that correspond to the reserve simulation of the pile-bypass trajectory,different types of the symmetrical 8-shaped trajectories are identified.Besides,with the help of the forward motion simulation and the car's final trajectory,it is verified that this method is feasible and accurate.