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Volume 42 Issue 8
Aug.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(8): 1709-1714.
LIU Kunming, XU Guoyan, YU Guizhenet al. Dynamic modeling and simulation analysis of robot driver's mechanical legs[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1709-1714. doi: 10.13700/j.bh.1001-5965.2015.0519(in Chinese)
Citation: LIU Kunming, XU Guoyan, YU Guizhenet al. Dynamic modeling and simulation analysis of robot driver's mechanical legs[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1709-1714. doi: 10.13700/j.bh.1001-5965.2015.0519(in Chinese)
shu

Dynamic modeling and simulation analysis of robot driver's mechanical legs

doi: 10.13700/j.bh.1001-5965.2015.0519

  • School of Transportation Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 10 Aug 2015
  • Publish Date: 20 Aug 2016
    Abstract
  • In order to improve the design efficiency of the robot driver, the dynamic analysis and modeling of the robot's mechanical legs are carried out, and furthermore, a collaborative simulation platform of the robot and vehicle is built. The mechanical leg dynamic model is made up of mechanical structure and servo motor, and the simulation model was built by ADAMS and MATLAB/Simulink; then the vehicle model was built by CarSim while the electromechanical co-simulation model "robot driver-vehicle" was built based on the closed-loop speed control in Simulink. Simulation results show that the dynamic model of mechanical leg has good dynamic response; in addition, the electromechanical co-simulation model is able to complete the basic speed tracking simulation experiment so as to provide a virtual prototyping model to improve the mechanical structure and control strategy.

     

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