机械5

摘要 近年来汽车行业发展迅速，对汽车安全、性能等各方面的需求越来越高。汽车驾驶模拟器作为一种应用于开发新产品、实现驾驶训练以及交通特性研究的重要手段，成为国际上一个重要的发展方向。为了模拟汽车在驾驶中启停、加速或减速、过弯时以及因为路面起伏而产生多种形式的运动变化（如俯仰、侧倾、垂荡等）,本文采用Stewart并联机构设计了一种并联汽车运动模拟平台。首先，本结合研究课题通过查阅多方资料和文献，针对汽车驾驶模拟器的机械结构部分进行设计，在此基础上进行相关的机构运动学分析和研究。机械结构的设计主要是用来模拟车辆连续变化的运动状态，在驾驶模拟器上进行模拟驾驶训练时，驾驶员能够感受到真实驾车的体验，该模拟平台可以代替实车训练驾驶。其次，驱动装置采用液压缸来驱动支脚从而带动上面。最后，通过采用SolidWorks来绘制相关零件的三维图，通过Adams仿真得到模拟器的相关运动特征。 关键词：汽车模拟驾驶器Stewart平台运动学分析Adams仿真 Abstract I
n rece
ntyears, the automotive i
ndustry has developed rapidly, a
nd the dema
nd for automotive safety, performa
nce a
nd other aspects is i
ncreasi
ng. As a
n importa
nt mea
ns to develop
new products, realize drivi
ng trai
ni
ng a
nd research o
n traffic characteristics, automobile drivi
ng simulator has become a
n importa
nt i
nter
natio
nal developme
nt directio
n. I
n order to simulate car start a
nd stop duri
ng drivi
ng, acceleratio
n or deceleratio
n, cor
neri
ng a
ndvarious forms of moveme
nt cha
nges(such as pitch, roll, heave, etc.) due to road surface u
ndulatio
ns, this article uses a Stewart parallel mecha
nism to desig
n a parallel co
n
nectio
n. Motor sports simulatio
n platform. Firstly, this dissertatio
n combi
nes the research topic a
nd desig
ns the mecha
nical structure of the automobile drivi
ng simulator by co
nsulti
ng multiple materials a
nd docume
nts. Based o
n this, the related mecha
nism ki
nematics a
nalysis a
nd research are carried out. The desig
n of the mecha
nical structure is mai
nly used to simulate the co
nti
nuously cha
ngi
ng state of thevehicle. Whe
n the driver is trai
ned o
n the drivi
ng simulator, the driver ca
n feel the real drivi
ng experie
nce. The simulatio
n platform ca
n replace the realvehicle trai
ni
ng drivi
ng. Seco
nd, the drive uses hydraulic cyli
nders to drive the feet to drive it. Afterwards, by usi
ng SolidWorks to draw the 3D map of related parts, the releva
nt motio
n features of the simulator are obtai
ned through simulatio
n. Keywords: Drivi
ng-automobile simulator, Steward platform, Ki
nematic a
nalysis, Adams simulatio
n. 目录 摘要2 Abstract II 1绪论1 1.1课题背景及研究意义1 1.2国内外发展现状2 1.3课题内容4 2六自由度汽车运动模拟器的运动学分析5 2.1 Stewart机构简介5 2.2六自由度汽车运动模拟器机构位置反解5 2.2.1坐标系建立5 2.2.2广义坐标定义6 2.2.3坐标变换矩阵7 2.2.4驾驶模拟器铰链位置的确定8 2.2.5模拟器机构位置反解9 2.3六自由度汽车运动模拟器机构位置正解10 2.4静力学分析10 2.5小结10 3汽车驾驶模拟器机械结构设计11 3.1汽车驾驶模拟器平台设计11 3.1.1液压缸的设计11 3.1.2液压缸壁厚及外径计算13 3.1.3缸盖确定13 3.1.4液压缸工作行程确定14 3.1.5液压缸缸体确定14 3.1.6液压系统计算14 3.2铰链设计16 3.3执行机构单元组成18 3.5电液伺服控制单元与液压系统19 3.4小结21 4电气部分设计22 4.1电气原理及接口设计22 4.1.1 MCS-51系列单片机的引脚及其功能22 4.1.2单个电液伺服液压缸位置控制电路设计24 4.1.3扩展电路24 4.2电气原理图25 4.3小结26 5基于ADAMS的运动学仿真27 5.1 ADAMS简介27 5.2仿真模型建立27 5.2运动学仿真28 5.3仿真分析28 5.4小结30 6结论31 致谢32 参考文献33