Research On Structural Dynamics And Topology Optimization Of Electromagnetic Driving Vehicle Driving Robot

Vehicle robot driver is a kind of robot that can be equipped in a vehicle cab without any modification.It can be used to conduct automatic driving instead of a human driver.Based on the developed former three generations prototype of DNC types of vehicle robot driver,an exploratory research of an electromagnetic direct-drive vehicle drive robot,that is called DNC-4 vehicle drive robot,are conducted in the paper.Firstly,the structure and working principle of shift manipulator and driving mechanical legs are analyzed.Based on the analysis of the advantages and disadvantages of different driving modes,the system structure of the electromagnetic direct vehicle drive robot is determined.The three-dimensional model of the system structure is established.Secondly,through the kinematics and dynamics analysis of the shift manipulator and the mechanical leg of the vehicle robot driver,grasping the relationship between the ending of manipulator/legs’ displacements/velocity/acceleration,the manipulator can complete gear selecting or shifting,the legs are able to complete its action,the research is also done for next chapter’s dynamic simulation.Thirdly,the kinematics and dynamics simulation of the improved shift manipulator are carried out to verify the feasibility of the mechanism and the correctness of the dynamic analysis.According to the measurement parameters of driving mechanism,the interaction forces at each joint are obtained for finite element analysis.At last,finite element analysis and structural optimization of the mechanism are carried out to obtain a lighter and more anti-vibration vehicle robot driver.The modal analysis of the vehicle driving robot and exterior excitation are carried out,and the vibration effects at different frequencies are analyzed.According to the modal analysis results,the frequency of the vehicle driving robot that is to be avoided is obtained.By using the topology optimization technology,the structure optimization is carried out to get a lighter and more anti-vibration vehicle robot driver.