基于神经网络负载波动模拟的换挡机械手动力学分析

摘要/Abstract

摘要： 提出了一种换挡负载波动模拟方法，分析了负载波动下的驾驶机器人换挡机械手的动力学特性。搭建了包含机械手末端负载波动模型的换挡机械手动力传递模型。在负载波动模型中，将负载分解为挂挡方向负载和选挡方向负载。提出了一种神经网络挂挡负载模型，并通过试验数据对比验证了该模型的有效性。对换挡机械手在负载波动下的动力学特性进行了分析，对末端负载变化对换挡机械手换挡轨迹跟踪的影响进行了验证。

关键词: 驾驶机器人, 换挡机械手, 负载波动, 神经网络

Abstract: A simulation method of shift load fluctuation was proposed, and the dynamics characteristics of shift manipulators of driving robot under load fluctuation were analyzed. A power transmission model of shift manipulators including the end load fluctuation model of the manipulators was established. In the carrier motion model, the load was decomposed into selecting direction load and shifting direction load. A neural network gear load model was proposed, and the experimental data were compared to verify the effectiveness of the proposed model. The dynamics characteristics of the shift manipulators under load fluctuations were analyzed. The effects of end load changes on the trajectory tracking of the shift manipulators were verified.

Key words: driving robot, shift manipulator, load fluctuation, neural network

中图分类号:

U461.1

周楠;陈刚. 基于神经网络负载波动模拟的换挡机械手动力学分析[J]. 中国机械工程.

ZHOU Nan;CHEN Gang. Dynamics Analysis of Shift Manipulators Based on Neural Network Load Fluctuation Simulation[J]. China Mechanical Engineering.

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