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.
| Original language | English |
|---|---|
| Pages (from-to) | 1709-1714 |
| Number of pages | 6 |
| Journal | Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics |
| Volume | 42 |
| Issue number | 8 |
| DOIs | |
| State | Published - 1 Aug 2016 |
Keywords
- Collaborative simulation
- Dynamic model
- Robot driver
- Vehicle
- Virtual prototype
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