驾驶机器人机械腿轻量化设计与动力学分析

Dynamic analysis and lightweight design of driving robot mechanical leg

为了缩短车辆相关性能测试需要的时间以及提高试验精度,提出了一种结构小巧、轻量化的驾驶机器人机械腿。针对车辆踏板踩踏动作需求,完成了机械腿的结构设计并建立运动学模型。根据运动学模型分析结构尺寸对机械腿运动特性的影响。采用拉格朗日方程建立动力学模型,完成机械腿踩踏动作仿真。通过ADAMS仿真平台验证建立的机械腿运动学和动力学模型。并根据动力学模型的理论数据,以减轻机械腿自身质量为优化目标,对机械大腿部件应力以及应变进行分析,计算不同轻量化方案下的应力、应变,选取最优轻量化方案。结果表明:该驾驶机器人机械腿结构设计合理紧凑、运动稳定可靠,骨棒型轻量化方案整体质量下降0.484 kg,降低33.9%。

In order to shorten the time required for vehicle-related performance testing and improve test accuracy,a compact and lightweight mechanical leg for a driving robot has been proposed.First,the structural design of the mechanical leg was completed to meet the requirements of the vehicle pedal stepping motion,and a kinematic model was established.The impact of structural dimensions on the motion characteristics of the mechanical leg was analyzed based on the kinematic model.Secondly,a dynamic model was established using the Lagrange equations to simulate the pedaling motion of the mechanical leg.The established kinematic and dynamic models were validated using the ADAMS simulation platform.Based on the theoretical data from the dynamic model,with the optimization goal of reducing the mass of the mechanical leg,an analysis of stress and strain in the mechanical thigh components was conducted,and the stress and strain under different lightweighting schemes were calculated to select the optimal lightweighting scheme.The results indicate that the design of the driving robot’s mechanical leg mechanism is reasonably compact,with stable and reliable motion.The overall mass of the bone-rod lightweighting scheme decreases by 0.484 kg,a reduction of 33.9%.