In order to improve the efficiency of gear shifter testing,a kind of shift robot with a special pas-sive joint is proposed to complete the human-like shifting operation automatically.The shift robot is mainly composed...In order to improve the efficiency of gear shifter testing,a kind of shift robot with a special pas-sive joint is proposed to complete the human-like shifting operation automatically.The shift robot is mainly composed of two prismatic pairs,a cylindrical pair and a passive joint.The two prismatic pairs act as actuators of the mechanism to complete a part of the shifting operation,and then the shift lever can be pulled into the accurate gear position by the shift torque of the gear shifter.However,the shifting lever may skip the target gear position into the next gear position.In order to solve the gear-skip phenomenon,a limit block is applied to the passive joint.Then,the shifting processes are simulated through the dynamic model of the shift robot.The optimal position of the limit block is de-termined based on its dynamic characteristics.展开更多
基金Supported by the National Natural Science Foundation of China(No.51975008)the Beijing Municipal Natural Science Foundation(No.3192002).
文摘In order to improve the efficiency of gear shifter testing,a kind of shift robot with a special pas-sive joint is proposed to complete the human-like shifting operation automatically.The shift robot is mainly composed of two prismatic pairs,a cylindrical pair and a passive joint.The two prismatic pairs act as actuators of the mechanism to complete a part of the shifting operation,and then the shift lever can be pulled into the accurate gear position by the shift torque of the gear shifter.However,the shifting lever may skip the target gear position into the next gear position.In order to solve the gear-skip phenomenon,a limit block is applied to the passive joint.Then,the shifting processes are simulated through the dynamic model of the shift robot.The optimal position of the limit block is de-termined based on its dynamic characteristics.
