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!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!4300810“”。。4、、。。。11xoyx。、。TP391.7A1002－2333201507－0036－03SimulationandOptimizationofSteeringMechanismofCarbonTrolleyTrackLIJie，XIELiangxi，MAZhao，CHENJianwen，ZHANGYi，TIANZhixiangCollegeofMechanicalAutomationWuhanUniversityofScienceandTechnologyWuhan430081ChinaAbstract：Inordertodesignacarbon-freecarforavoidingobstacleautomatically,thispaperestablishesthemathematicalmodelofsteeringmechanismofcrankrocker,andusesMATLABtosimulatethetrolleytrack.Theinitialparametersofthesteeringmechanismareconsideredasunreasonable.ByusingthemethodofanalysisandnumericalsimulationcombinedwithCAD，thesteeringmechanismparametersareoptimized,thebettercrankrockerisdesigned.Acarbon-freecarisdesignedandproducedbasedontheoptimalsteeringmechanism，andachievesgoodresults.Keywords：carbon-freecar；crankandrockermechanism；MATLAB;optimization2015736CADCAMCAECAPPMANUFACTURINGINFORMATIZATION!!!!!!!!!!3ADAMS、。1,.ADAMS2005M.:2006:90-96.2.D.2007.3.ADAMSM.:2005255-272.4.D.200711-20.5Niku.-、M.,,.:200474-78.6.M.:,2002:4.7BaresJEWhittakerWI.ConfigurationofautonomouswalkersforextremeterrainJ.TheIneternationalJournalofRoboticsResearch1993126535-559.8.D.:,2008:1-30.9.D.2003:1-30.10LeeTTLiaoCM.OntheStabilityPropertiesofHexapodTripodGaitJ.JournalofRoboticsAutomation198884420-430.1980—、1966—。2015-03-011xγdθabcyadcdθγ。xyacosθ+bcosα-d-cosγ=0asinθ+bsinα-csinγ=0γ。11αEcosγ+Fsinγ+G=0。2E=d-acosθF=-asinθG=E2+F2+c2-b2/2c。cosγ=1-tan2γ/21+tan2γ/2sinγ=2tanγ/21+tan2γ/24tanγ/2γ=2tan-1F+E2+F2-G2姨E-G。5xoyx=c·cosγy=c·sinγγ。6ωx1=x·cosω-y·sinωy1=x·sinω+y·cosωγ。72MATLAB。a=29b=200.64c=75d=188ω=0°MATLABβ=-90°=π/290°-90°2。x2=x1·cosβ-y1·sinβy2=x1·sinβ+y1·cosβγ。83。Directionn=tan-1y2nx2n。9θk=4.9R=75S=k·θ·R。10S0=sn+1-sn。11x0=S0·cosDy0=S0·sinDγ。12MATLABX=cumsumx0Y=cumsumy0γ。135。。。2403020100-10-20-30-40y/mm696870x/mm71727374754xS03S02S01y3720157CADCAMCAECAPPMANUFACTURINGINFORMATIZATION3403020100-10-20-30-40y/mm100203040506070x/mm8056005004003002001000-100-200y/mm0.5-0.501.01.52.02.53.03.5x/104mmmmmmmmmmmm107006005004003002001000-100y/mm-0.500.51.01.52.02.53.03.5x/104mm9600590580570560/mm1050156c24.66°48.76°bd200.64a51603MATLAB。SolidWorks6。SolidWorks。tt=π-minγ-maxγt=0.0997。7580mms=1nn1ΣZ-5802ts0t。t∈t-0.005t+0.005ts8。8t=0.0108rads=0a=29b=200.63c=75.01d=188ω=0°9。9580mm10。4MATLAB。SolidWorksMATLABMATLAB。1.M.2007.2.M.2006.3.M.2006.4.MATLABM.2011.5.J.200610578-83.1994—1971—。2015-05-182015738CADCAMCAECAPPMANUFACTURINGINFORMATIZATION8ts7600580560540520500480460/mm50101576543210-1s/10340.010.0200.030.040.050.060.070.080.090.10t/sX0.0108Y0