Dynamics And Finite Element Analysis Of The Driving Robot For Electromagnetic Direct Drive Vehicles

Vehicle robot driver is a kind of robot that can be equipped in different kinds of vehicle cab without any modification.It is used to conduct automatic driving instead of a human driver.According to the former three generations prototype of DNC types of vehicle robot driver,this paper sthdies the dynamic characteristics and the finite element analysis of the DNC-4 electromagnetic direct-drive vehicle robot driver.Firstly,the driving mode and structure principle of actuators are determined according to the technical requirements,furthermore,the multi-rigid-body dynamic equation model and the virtual prototype model of the robot driver are established,the rationality of structure design and the validity of the dynamic model are illustrated by simulation analysis.Secondly,the rigid-flexible coupling dynamic enquation model and the vitual prototype of the robot driver are established,the comparison analysis that include the results of the dynamic characteristics based on rigid-flexible equation simulation,rigid-flexible virtural prototype simulation,multi-rigid-body equation simulation and multi-rigid-body virtural prototype simulation are carried out to verify the validity of the rigid-flexible dynamic equation model.The perfornance test on robot driver is carried out to further verify the validity of the rigid-flexible dynamic model and the rationality of the actuator structure.Thirdly,the influence of the dynamic characteristics of the shift manipulator with single and multi elearances is studied.Blend the flexible rod into the shift manipulator with clearance model to analyze how the flexible rod influence the dynamic characteristics of the shift manipulator.The influence of the dynamic characteristics on driving mechanical legs with multi clearances is also analyzed and studied.Finally,the finite element model of the robot driver is established,the static and modal analysis are carried out to obtain the low order netural frequency and vibration mode,the deformation and stress in extreme working conditions also can be obtained.Due to the situation that the stress of the upright rod and the regulating rod is large,the multi-objective optimization are carried out.The size parameters of the two rods are optimized,and the reliability of the shift manipulator and the brake mechanical leg is improved.