The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the ...The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the principle of virtual work,the least squares solution of each joint torque was obtained.The relationship between the stability of the robot and the configuration of the driving joint is obtained by the sum of the norms of the joint torque.Finally,numerical simulations verify the correctness of the theory.展开更多
With the use of mechanical system dynamics simulation analysis software ADAMS,the virtual prototype model of Closed Five-bow-shaped-bar Linkage was established.The dynamic of the mechanism was analyzed,and providing t...With the use of mechanical system dynamics simulation analysis software ADAMS,the virtual prototype model of Closed Five-bow-shaped-bar Linkage was established.The dynamic of the mechanism was analyzed,and providing the theoretical basis for selection of parameter of electric machine of driving joint and accurate control of dynamics.展开更多
As one of transmission mechanisms,continuously variable transmission(CVT)can transfer energy depending upon rotation speed or torque generated by rotation power transferred from input axis to output axis.It is known t...As one of transmission mechanisms,continuously variable transmission(CVT)can transfer energy depending upon rotation speed or torque generated by rotation power transferred from input axis to output axis.It is known that the CVT is mechanism that can change gear ratios continuously in power transmission installed in vehicles,or power generation and its transfer systems.In this paper,we propose a CVT using a new type of mechanism in which four-bar linkages(quadric crank chains)and non-invertible elements such as one-way clutches or ratchets are installed.The conventional CVTs which are classified as belt-type CVTs or toroidal CVTs are driven by friction force between conduction mechanisms.Due to slippage or high-pressure between the transmission components in the conduction mechanism,the transfer efficiency in the conduction energy becomes inferior.However,the proposed CVT does not depend upon any friction forces,and it is considered that its transfer efficiency is superior.展开更多
针对分布式电动汽车中簧下质量增大,车辆平顺性和车轮接地性恶化的问题,设计了一种新型齿轮连杆式轮边动力吸振器。评估其在多连杆悬架中空间布置的可行性;考虑路面不平度与电机驱动时作用在其壳体上的反力矩,建立系统的动力学模型并推...针对分布式电动汽车中簧下质量增大,车辆平顺性和车轮接地性恶化的问题,设计了一种新型齿轮连杆式轮边动力吸振器。评估其在多连杆悬架中空间布置的可行性;考虑路面不平度与电机驱动时作用在其壳体上的反力矩,建立系统的动力学模型并推导其振动力学微分方程,利用MATLAB/Simulink建立三自由度振动模型,在新欧洲行驶循环(New European Driving Cycle,NEDC)工况下得到时域内的系统响应;结合计算结果分析动力吸振器弹簧刚度阻尼对车身加速度、车轮动载荷和电机振动的影响作用,并进行动力吸振器弹簧刚度和阻尼的优化设计;最后将该系统与传统汽车和一般轮毂电机驱动系统对比,分析其改善车辆平顺性和接地性的效果。结果表明,该新型齿轮连杆式轮边动力吸振器可以合理布置在多连杆悬架中,并可显著改善分布式驱动汽车车辆平顺性和车轮接地性。展开更多
文摘The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the principle of virtual work,the least squares solution of each joint torque was obtained.The relationship between the stability of the robot and the configuration of the driving joint is obtained by the sum of the norms of the joint torque.Finally,numerical simulations verify the correctness of the theory.
文摘With the use of mechanical system dynamics simulation analysis software ADAMS,the virtual prototype model of Closed Five-bow-shaped-bar Linkage was established.The dynamic of the mechanism was analyzed,and providing the theoretical basis for selection of parameter of electric machine of driving joint and accurate control of dynamics.
文摘As one of transmission mechanisms,continuously variable transmission(CVT)can transfer energy depending upon rotation speed or torque generated by rotation power transferred from input axis to output axis.It is known that the CVT is mechanism that can change gear ratios continuously in power transmission installed in vehicles,or power generation and its transfer systems.In this paper,we propose a CVT using a new type of mechanism in which four-bar linkages(quadric crank chains)and non-invertible elements such as one-way clutches or ratchets are installed.The conventional CVTs which are classified as belt-type CVTs or toroidal CVTs are driven by friction force between conduction mechanisms.Due to slippage or high-pressure between the transmission components in the conduction mechanism,the transfer efficiency in the conduction energy becomes inferior.However,the proposed CVT does not depend upon any friction forces,and it is considered that its transfer efficiency is superior.
文摘针对分布式电动汽车中簧下质量增大,车辆平顺性和车轮接地性恶化的问题,设计了一种新型齿轮连杆式轮边动力吸振器。评估其在多连杆悬架中空间布置的可行性;考虑路面不平度与电机驱动时作用在其壳体上的反力矩,建立系统的动力学模型并推导其振动力学微分方程,利用MATLAB/Simulink建立三自由度振动模型,在新欧洲行驶循环(New European Driving Cycle,NEDC)工况下得到时域内的系统响应;结合计算结果分析动力吸振器弹簧刚度阻尼对车身加速度、车轮动载荷和电机振动的影响作用,并进行动力吸振器弹簧刚度和阻尼的优化设计;最后将该系统与传统汽车和一般轮毂电机驱动系统对比,分析其改善车辆平顺性和接地性的效果。结果表明,该新型齿轮连杆式轮边动力吸振器可以合理布置在多连杆悬架中,并可显著改善分布式驱动汽车车辆平顺性和车轮接地性。
