摘要
针对工程训练能力竞赛热能驱动车赛项的竞赛要求,运用SolidWorks软件的设计算例功能求得了光滑轨迹的最优解。通过建立小车凸轮转向机构的数学模型和凸轮形状的求解模型,基于轨迹点集和MATLAB软件反求出凸轮轮廓形状,运用SolidWorks软件的Motion模块对小车三维模型进行轨迹仿真验证。根据实物小车的实际行走轨迹与理论轨迹的误差对比,通过微调小车各关键安装尺寸,使得小车的实际轨迹与理论轨迹趋于一致,并且可顺利通过赛道的各个障碍桩。研究结果表明:凸轮转向机构及凸轮形状求解数学模型的建立能够有效解决热能小车沿指定轨迹行走的问题,通过实物小车的尺寸微调可以得到近似于理想轨迹的实际轨迹线。
In this article, according to the requirements of thermal-energy driven cars in terms of engineering training ability in the competition, the optimal solution of smooth trajectory is worked out by means of the design-example function of the SolidWorks software. With the help of the mathematical model of the car’s cam-steering mechanism and the solution model of the cam shape, based on the trajectory points set and the MATLAB software, the contour shape of the cam is obtained in reverse;the trajectory of the car’s 3 D model is simulated and verified by the Motion module of SolidWorks. According to the error comparison between the actual trajectory and the theoretical trajectory of the car, by fine-tuning the key installation dimensions, the actual trajectory of the car tends to be consistent with the theoretical trajectory, and thus the car can pass each obstacle stake in the racetrack smoothly. The results show that the thanks to the mathematical model of the cam-steering mechanism and the solution model of the cam shape, the problem of the thermal energy car’s walking along the specified trajectory is solved effectively;the actual trajectory line which is similar to the ideal trajectory can be identified by fine-tuning the dimensions of the car.
作者
江一行
张冬冬
卢煜
郭张平
苏子超
JIANG Yi-hang;ZHANG Dong-dong;LU Yu;GUO Zhang-ping;SU Zi-chao(Institute of Intelligent Manufacturing,Zhejiang Institute of Mechanical and Electrical Engineering,Hangzhou 310053)
出处
《机械设计》
CSCD
北大核心
2022年第5期86-90,共5页
Journal of Machine Design
基金
浙江省教育厅一般科研项目(Y202044597)
浙江省教育厅一般科研项目(Y201941688)
浙江省社会科学界联合会研究课题(2021N61)。
关键词
热能驱动车
数学模型
凸轮轮廓
轨迹仿真
thermal-energy driven car
mathematical model
cam contour
trajectory simulation
