Structural Design and Motion Analysis of Carbon-free Trolleys Based on the RSSR Mechanism

He Long; Zhang Ya; Wang Furong; Han Zifeng; Ji Zhaohui

doi:10.16578/j.issn.1004.2539.2022.11.012

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Structural Design and Motion Analysis of Carbon-free Trolleys Based on the RSSR Mechanism

Design· Calculation | 更新时间：2022-12-01

- Structural Design and Motion Analysis of Carbon-free Trolleys Based on the RSSR Mechanism
- Journal of Mechanical Transmission Vol. 46, Issue 11, Pages: 77-81(2022)
- 作者机构：
  
  1.中北大学机电工程学院，山西太原 030051
  2.河北科技大学机械工程学院，河北石家庄 050018
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.11.012
  CLC：
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何隆,张亚,王芙蓉等.基于RSSR机构的无碳小车结构设计与运动分析[J].机械传动,2022,46(11):77-81.

He Long,Zhang Ya,Wang Furong,et al.Structural Design and Motion Analysis of Carbon-free Trolleys Based on the RSSR Mechanism[J].Journal of Mechanical Transmission,2022,46(11):77-81.
何隆,张亚,王芙蓉等.基于RSSR机构的无碳小车结构设计与运动分析[J].机械传动,2022,46(11):77-81. DOI： 10.16578/j.issn.1004.2539.2022.11.012.

He Long,Zhang Ya,Wang Furong,et al.Structural Design and Motion Analysis of Carbon-free Trolleys Based on the RSSR Mechanism[J].Journal of Mechanical Transmission,2022,46(11):77-81. DOI： 10.16578/j.issn.1004.2539.2022.11.012.

摘要

针对无碳小车运动过程中存在的轨迹跑偏、调试缺乏参考的问题，选用RSSR机构作为转向装置，基于空间四连杆机构的运动特性，建立了小车避障运动的数学模型；从运动学角度分析了空间四连杆各参数变化对小车轨迹的影响，并从动力学角度探究了四杆参数变化对其运动过程的影响，得出基于RSSR机构的无碳小车运动的一般规律；对小车进行实物调试证明，小车能够平稳运行并成功避过30个障碍物。文中所建立的数学模型及对RSSR机构进行研究所得出的小车运动规律对无碳小车的实际调试具有较高的工程指导意义。

Abstract

Aimed at the problems of track deviation and lack of reference for debugging during the movement of carbon-free trolleys, the RSSR mechanism is selected as the steering device, and the mathematical model of obstacle avoidance motion of the trolley is established based on the motion characteristics of the spatial four-bar linkage. The influence of the parameters of the spatial four-bar linkage on the trajectory of the trolley is analyzed from the kinematics point of view, the influence of the parameters of the four-bar linkage on its motion process is further explored from the dynamics point of view, and the general law of the trolley motion of the RSSR mechanism is obtained. Finally, the actual debugging of the trolley shows that the trolley can run smoothly and successfully avoiding 30 obstacles. The mathematical model established and movement law of the car obtained from the research of the RSSR mechanism are of great engineering guiding significance for the actual debugging of carbon-free trolleys.

关键词

无碳小车RSSR机构运动仿真结构设计

Keywords

Carbon-free trolleyRSSR mechanismMotion simulationStructural design

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