摘要
构思了一种基于行星轮系的新型移动平台,运用Lagrange方法,建立三维实体模型和多刚体动力学模型,借助于动力学分析软件ADAMS求解动力学方程,在多种复杂地形中进行仿真试验,获得该新型移动平台动作过程中的动态响应和不同工况下的运动规律和振动形态,对结果进行分析,得出的结论,并通过实验证实,该新型移动平台的构思与设计方案是可行的。
A new-style mobile platform which is based on the Planet Wheel System is conceived, Models of threedimensional entity and multi-body dynamic equations of the mobile platform are established based on the Lagrange method. Dynamic equations are found and solved by applying dynamic analysis software ADAMS. Imitation experiment are carried on where the mobile platform is in various complicated geography sites and several results are acquired such as dynamic respond of its action process as well as the motion and vibration regulation under different working conditions. With the analysis of results and confirmed by the experiment, the conclusion can be made that both the idea and the design project of the mobile platform are viable.
出处
《机械设计与研究》
CSCD
北大核心
2007年第2期55-59,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(50475058)
