装配图
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
In recentyears, the automotive industry has developed rapidly, and the demand for automotive safety, performance and other aspects is increasing. As an important means to develop new products, realize driving training and research on traffic characteristics, automobile driving simulator has become an important international development direction. In order to simulate car start and stop during driving, acceleration or deceleration, cornering andvarious forms of movement changes(such as pitch, roll, heave, etc.) due to road surface undulations, this article uses a Stewart parallel mechanism to design a parallel connection. Motor sports simulation platform. Firstly, this dissertation combines the research topic and designs the mechanical structure of the automobile driving simulator by consulting multiple materials and documents. Based on this, the related mechanism kinematics analysis and research are carried out. The design of the mechanical structure is mainly used to simulate the continuously changing state of thevehicle. When the driver is trained on the driving simulator, the driver can feel the real driving experience. The simulation platform can replace the realvehicle training driving. Second, the drive uses hydraulic cylinders to drive the feet to drive it. Afterwards, by using SolidWorks to draw the 3D map of related parts, the relevant motion features of the simulator are obtained through simulation.
Keywords: Driving-automobile simulator, Steward platform, Kinematic analysis, Adams simulation.
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
电缸
虎铰克上座
设计目录
设计字数统计
中英文摘要
