摘要汽车自动驾驶机器人是用于对汽车驾驶操纵性、经济性、动力性、耐久性、排放性能等做试验的机械设备。该机器人可以对汽车换挡手柄、油门、离合器和制动踏板等进行协调操作,从而达到替代人类驾驶员驾驶汽车进行试验的目的。60337
电磁直线驱动能将电能直接转换为直线形式的机械能,控制驾驶机器人油门、制动器、离合器机械腿和换挡机械手等执行机构动作,有着其他驱动方式无可比拟的优越性。
本课题主要根据本次设计的要求,对所设计直线步进电机的相数,电磁线圈的匝数,线圈直径等主要参数进行了设计计算,确定了直线步进电机的主要结构,绘制了直线步进电机二维以及三维工程图。利用ANSOFT软件对执行执行器进行三维建模。建模结束后,再对电机进行材料定义,再定义性能参数,如:线圈匝数、最大行程、加载电压等,通过运行计算后,进行后处理,得出静态特性状况下,磁力线分布、磁感应强度、不同位移点,电磁力与电流的关系。动态特性中,得出不同匝数情况下电流、位移、速度、力与时间的关系。
毕业论文关键词 : 驾驶机器人 建模 仿真 ANSOFT
毕业设计说明书(论文)外文摘要
Title Automatic car driving robot modeling and simulation of linear actuators
Abstract Car autonomous robot is used for automobile driving maneuverability, economy, power performance, durability and emissions performance experiments of mechanical equipment. The robot can shift on car handle, pedal, clutch and brake pedal to coordinate operations, so as to achieve instead of human driver driving a car the purpose of the experiment.
Electromagnetic linear drive can convert electrical energy directly to linear form of mechanical energy, control throttle, brakes, clutch driving robot mechanical legs and shifting manipulator actuator movement, the drive system, has incomparable superiority.
This topic mainly using ANSOFT software for 3 d models perform actuators. After the modeling, material definition on motor, to define the performance parameters, Such as coil circle number, range, load, voltage, etc. By running the after calculation, post-processing, and static characteristic conditions, grid subpision, the lines of magnetic force distribution of motor, the magnetic induction intensity, different displacement, electromagnetic force and the current relationship. Dynamic characteristics of different number of turns cases current, displacement, speed, power and time. Through detailed analysis of the parameter diagram, determine the main parameters of the selected motor.
Keywords Driving the robot modeling The simulation ANSOFT
目次
1 绪论 1
1.1 引言 1
1.2 课题背景及研究的目的意义 1
1.3 国内外驾驶机器人的发展情况 2
1.4 驾驶机器人驱动方式的国内外发展现状 3
1.5 本文主要研究内容 6
1.6 本章小结 6
2 驾驶机器人直线执行器总体方案设计 7
2.1 驾驶机器人驱动方式的选择 7
2.2 直线电机的选取 9
2.2 适合自动驾驶机器人的驱动电机 10
2.4 本章小结