Nonlinear Dynamics Analysis And System Integration Optimization Of Robot Driver

Robot driver is a special operation robot that replaces human driver to realize vehicle automatic driving.There is no need to modify the vehicle,and it can be installed in vehicle cab without damage.It is widely used in vehicle test,rescue,target vehicle movement and unmanned ground platform.In this paper,based on the structural system design of robot driver,the nonlinear dynamic performance analysis and system integration optimization of Robot driver are conducted.Firstly,the overall structure,performance index and driving methods of robot driver are introduced.The working principle,installation adjustment methods of shift manipulator and mechanical legs are analyzed.The kinematics model of robot driver is established,and the kinematics simulation is carried out.Then,based on the L-N nonlinear contact force model and the improved Coulomb friction model,the joint clearance model of robot driver is established.The kinematics error model and nonlinear dynamics model of robot driver with multiple clearance joints is established.Then,further considering the end variable load of shift manipulator and mechanical legs,a nonlinear dynamic model of robot driver with multiple clearance joints and the end variable load is established.On this basis,the nonlinear dynamic analysis of robot driver is conducted,and the chaos phenomenon of robot driver with joint clearance is analyzed by Poincaré mapping curve.Then,the nonlinear dynamic performance of robot driver considering joint clearance and end variable load are analyzed.The effectiveness of the nonlinear dynamic model is verified by the performance test of robot driver on the manual transmission test vehicle.Finally,taking the stiffness,stress and mass performance of manipulation mechanisms for robot driver as the optimization objectives,taking the overall dimensions of manipulation mechanisms as the design variables,an integrated optimization model of the structure system for robot driver is established.The optimization model is solved based on non-dominated sorting genetic algorithm with elitist selection strategy.The optimization results show that the structural performance of robot driver has been greatly improved.