重力驱动小车的结构设计及运动仿真分析

毕业设计（论文）重力驱动小车的结构设计及运动仿真分析院别控制工程学院专业名称机械工程及自动化班级学号3122218学生姓名孙衍宁指导教师单泉2016年6月10日东北大学秦皇岛分校毕业设计（论文）第I页重力驱动小车的结构设计及运动仿真分析摘要本文设计的重力驱动小车利用滑轮组将重物块的重力势能转换为小车的动能使之行走，并通过空间曲柄摇杆机构来控制前轮左右周期性转向，以此来避开障碍物。所设计的传动系统与转向系统结构简单，传动件少，降低了小车的传动损耗，从而让小车行走更远更平稳。通过MATLAB平台，计算小车的运动轨迹，并得出小车运动轨迹路线图。通过MATLAB/Simulink中的SimMechanics工具箱建立小车转向机构的机构模型，并在SimMechanics环境下对自行小车的转向机构进行了运动学的动态仿真，同时进行了轨迹跟踪控制。根据各部分结构方案，通过Inventor2015进行三维建模，并制作三维仿真动画，检验小车各运动部分是否有干涉，小车比例是否协调。在小车的设计过程中，注重有限势能的优化利用、车体结构的合理性、行走的稳定性和协调性等，应用了诸多数学理论进行验证，通过对小车的结构设计、运动仿真分析，提高了提出问题、分析问题、解决问题的能力，并总结出了从中获得的经验和教训，受益良多。关键词：重力驱动小车，MATLAB/Simulink运动仿真，Inventor三维设计东北大学秦皇岛分校毕业设计（论文）第II页StructuredesignandmotionsimulationanalysisofgravitydrivencarAuthor：SunYanningTutor：ShanQuanAbstractInthispaper,thegravitydrivencarconvertsthegravitationalpotentialenergyoftheheavyblocktothekineticenergyofthecarbypulleys,andcontrolsthedirectionoftheleftandrightperiodicsteeringbythespatialcrankrockermechanismtoavoidobstacles.Thedesignofthetransmissionsystemandsteeringsystem’sstructureshouldbesimple,lesstransmissionparts,andreducingthetransmissionlossofthecar,soastomakethecarfartherandmorestable.CalculatingthemotiontrackofthetrolleybytheMATLABplatform,andthetrajectoryofthetrolleymotionisdeveloped.ThroughtheSimMechanicstoolboxofMATLAB/Simulinkdevelopedcarsteeringmechanismmodel,andundertheSimMechanicsenvironmentfortheirowncarsteeringmechanismforthedynamicsimulationofthekinematics.Atthesametime,thetrajectorytrackingcontrol.Utilizingtheadvantagesoftheinventorinthedesign,accordingtotheprogramofthestructure,3Dmodelingisdevelopedbyinventor.Seeing3Danimationsimulationandtestingcarthemovingpartwhetherthereisinterference,theproportionofthecarisharmonious.Intheprocessofvehicledesign,payingattentiontooptimizationoffiniteenergyutilization,therationalityofthecarbodystructure,walkingthestability,harmonyandapplicationofmanymathematicaltheorywasverified.Throughtheanalysisofthecarstructuredesignandmotionsimulation,improvetheabilitiesoffindingquestions,analyzingproblems,solvingproblem.Theexperiencesandlessonsaresummedup.Keywords:Gravitydrivencar,MATLAB/Simulinkmotionsimulation,Inventor3Ddesign东北大学秦皇岛分校毕业设计（论文）第III页目录1绪论........................................................................................................................................11.1本课题的研究背景、目的和意义................................................................................11.2小车的研究情况............................................................................................................21.3本文研究的主要内容....................................................................................................22结构设计................................................................................................................................52.1方案设计........................................................................................................................52.1.1总体方案................................................................................................................52.1.2车架........................................................................................................................82.1.3原动机构................................................................................................................92.1.4传动机构..............................................................................................................102.1.5转向机构..............................................................................................................112.1.6行走机构..............................................................................................................122.1.7微调机构..............................................................................................................132.2技术设计......................................................................................................................142.2.1小车最终方案与工作原理..................................................................................142.2.2转弯弧长的近似计算..........................................................................................152.2.3速比的合理分配..................................................................................................172.2.4齿轮副参数的确定..............................................................................................172.2.5空间曲柄摇杆机构参数的确定..........................................................................183基于MATLAB/SIMULINK的机构运动分析..................................................................223.1基于MATLAB的小车轨迹分析...............................................................................223.1.1驱动系统建模分析..............................................................................................223.1.2转向系统建模分析..............................................................................................233.1.3小车行走轨迹分析..............................................................................................233.2SIMULINK转向机构建模与分析..................................................................................243.2.