机械5

智能化自适应自稳移动平台装置 摘要 汽车在路面上行驶，由于受到不同路况的影响，不可避免的会出现颠簸、倾斜等情况，从而导致运输货物的倾洒、泄露、爆炸等危险。智能化自适应自稳移动平台可以消除载体运动和干扰力矩的影响，通过姿态传感器获取对平台变化的动态数据，计算倾斜程度，然后通过单片机整理数据，驱动直线电机运动，反复调整确保动态姿态符合标准。从而隔离外界对装置的干扰，使平台一直处于水平状态，确保货物的安全运输。稳定平台广泛的应用于各行各业中，其也成为当前国际上研究的重点课题。 本文首先设计了一种新型的车载自稳平台，该自稳平台主要包括直线电机装置、四杆机构、剪叉机构、底盘机构等。其主要结构参数为：长800mm，宽800mm，高870mm，净重20Kg，最大起升后高度1.27m。该装置总体分为两部分：上部平台部分的功能是在遇到颠簸时可以通过调整自身的姿势变化而始终保持水平平稳状态，从而实现隔离运动物体扰动的功能。下部车体部分由剪叉升降机构及全向轮底盘组成，可通过智能遥控系统进行定位升降，其功能是使平台做任意方向的运动和原地360°无死角转动。 然后对稳定平台的自稳机构进行了运动分析和静力学分析，分析结果能够达到自动调节功能。 最后，利用solidworks软件对机构进行了仿真运动，用matlab进行数据分析。证明其可以完成既定的自稳、升降和移动要求。 通过该设计可以实现智能化自适应自稳移动平台的各项既定功能。 关键词：自稳平台；直线电机；万向节；solidworks ABSTRACT Due to the impact of differe
nt roads co
nditio
ns, there will be bumps or tilt duri
ng the car o
n the road i
nevitably, which results i
n the da
nger of goods to be tra
nsported dumpi
ng, leakage, explosio
n a
nd other hazards. The i
ntellige
nt adaptive self-stabilizi
ng mobile platform ca
n elimi
nate the i
nflue
nce of the carrier motio
n a
nd the disturba
nce torquezit, obtai
n the dy
namic data of the platform cha
nge through the attitude se
nsor, calculate the i
ncli
natio
n degree, a
nd the
n adjust the data through the si
ngle-chip microcomputer to drive the li
near motor moveme
nt a
nd adjust the dy
namic attitude sta
ndard. Thus isolati
ng the outside device i
nterfere
nce, so that the platform has bee
n i
n a horizo
ntal state to e
nsure the safe tra
nsport of goods. Stable platform widely used i
n all walks of life, which has become the focus of the curre
nt i
nter
natio
nal research topics. First of all, this paper desig
ns a
new type of vehicle self-stabilizi
ng platform, which i
ncludes li
near motor device, four-bar mecha
nism，scissor mecha
nism a
nd chassis mecha
nism. The mai
n parameters are: le
ngth 800mm, width 800mm, height 870mm,
net weight 20Kg, the maximum height after rise is 1.27m. The device is divided i
nto two parts：the upper part is the platform part, which ca
n be adjusted by cha
ngi
ng their ow
n posture whe
n e
ncou
nteri
ng i
n the bumps a
nd always mai
ntai
n a steady state of the level, so as to achieve the fu
nctio
n of isolatio
n moveme
nt object disturba
nce. the lower part is the body part,which composed of scissor lifti
ng mecha
nism a
nd om
ni-directio
nal chassis. It ca
n be lifted i
n a
ny poi
nt by i
ntellige
nt remote co
ntrol system. Its fu
nctio
n is to make the platform to do a
ny directio
n’s moveme
nt a
nd i
n situ 360 °
no dead a
ngle rotatio
n. Seco
ndly, the motio
n a
nalysis a
nd static a
nalysis of the self-stabilizi
ng mecha
nism of the stable platform are carried out,a
nd the a
nalysis result ca
n achieve the fu
nctio
n of automatic adjustme
nt. Fi
nally, Solidworks software is used to simulate the moveme
nt of the orga
nizatio
n a
nd usi
ng Matlab for data a
nalysis. To prove that it ca
n complete the established requireme
nts of self-stabilizatio
n, lifti
ng a
nd movi
ng. Through the graduatio
n desig
n ca
n achieve the established fu
nctio
n of i
ntellige
nt adaptive self-stabilizatio
n mobile platform. Key words: self-stabilizi
ng platform；li
near motor；u
niversal joi
nt；solidworks 目录 摘要…………………………………………………………………………………Ⅰ ABSTRACT ………………………………………………………………………………Ⅱ 1绪论…………………………………………………………………………………1 1.1研究背景…………………………………………………………………………1 1.2选题的理论意义和应用价值……………………………………………………1 1.3平台的国内外发展趋势…………………………………………………………2 2移动平台概述………………………………………………………………………3 2.1平台的设计原理…………………………………………………………………3 2.2平台的结构………………………………………………………………………3 3机械结构分析………………………………………………………………………4 3.1自稳机构的比较与设……………………………………………………………4 3.1.1四杆机构……………………………………………………………………4 3.1.2万向节机构…………………………………………………………………5 3.1.3轴承与轴构成的局部自由度…………………………………………………6 3.2升降机构的比较与设计…………………………………………………………7 3.2.1丝杠式升降系统………………………………………………………………7 3.2.2柱塞式升降系统………………………………………………………………7 3.2.3机械传动的电动导轨式升降机构………………………………………………8 3.2.4剪叉式升降机构………………………………………………………………9 3.3底盘机构的比较与设计………………………………………………………10 4运动和力学分析……………………………………………………………………12 4.1四杆机构的极限位置分析……………………………………………………12 4.2四杆机构各杆的受力分析……………………………………………………13 4.3四杆机构的压杆稳定校核……………………………………………………16 结论与展望……………………………………………………………………………20 参考文献………………………………………………………………………………21 致谢……………………………………………………………………………………22 附录1 …………………………………………………………………………………23 附录2 …………………………………………………………………………………31