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为提高驾驶机器人的设计效率,对机器人的机械腿进行了动力学分析与建模,并建立了机器人驾驶车辆的联合仿真模型。机械腿动力学模型由机械结构和伺服电机两部分组成,其仿真模型由ADAMS和MATLAB/Simulink软件共同建立,在此基础上引入Car Sim软件建立车辆模型,并以Simulink为平台建立了基于闭环速度控制的“驾驶机器人-车辆”联合仿真模型。仿真结果表明,驾驶机器人机械腿的动力学模型具有良好的动态响应特性,且所搭建的联合仿真模型能够完成基本的车速跟踪仿真实验,为下一步改进驾驶机器人的机械结构及控制策略提供了虚拟样机模型。
In order to improve the design efficiency of the driving robot, the mechanical leg of the robot is analyzed and modeled, and the co-simulation model of the robot driving vehicle is established. The mechanical leg dynamics model consists of mechanical structure and servo motor. The simulation model is established by ADAMS and MATLAB / Simulink software. Car Sim software is introduced to build the vehicle model. Simulink is used to establish the model based on closed-loop speed Controlled “driving robot - vehicle ” co-simulation model. The simulation results show that the dynamics model of the robot’s robot leg has a good dynamic response, and the co-simulation model can complete the basic speed tracking simulation experiment, which provides a virtual model for the next step to improve the mechanical structure and control strategy of the driving robot Mockup model.