CN107301292A - A kind of design method of the submissive diameter changing mechanism of diameter-variable wheel - Google Patents
A kind of design method of the submissive diameter changing mechanism of diameter-variable wheel Download PDFInfo
- Publication number
- CN107301292A CN107301292A CN201710480670.1A CN201710480670A CN107301292A CN 107301292 A CN107301292 A CN 107301292A CN 201710480670 A CN201710480670 A CN 201710480670A CN 107301292 A CN107301292 A CN 107301292A
- Authority
- CN
- China
- Prior art keywords
- mrow
- msub
- mfrac
- diameter
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
Landscapes
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Computational Mathematics (AREA)
- Prostheses (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The invention discloses a kind of design method of the submissive diameter changing mechanism of diameter-variable wheel, belong to mechanism design field.It is characterized in that mainly using following steps：(1) diameter changing mechanism design variable and the kinematic geometry relation between them are determined；(2) constraints of diameter changing mechanism design variable is determined；(3) determine diameter changing mechanism design object and set up its optimized mathematical model；(4) nonlinear constrained programming is solved using interior point method, obtains mechanism dimensions.Beneficial effects of the present invention：Design can be optimized to submissive diameter changing mechanism dimensional parameters, according to diameter-variable wheel to opening and closing up the requirement of extreme position to realize the wheel diameter variation of diameter-variable wheel；Theoretical foundation can be provided using the kinematic geometry relation equation of this method for the control of diameter-variable wheel wheel diameter variation；This method shortens the R＆D cycle of the mechanism, reduces design and manufacture cost, with higher practical value.
Description
Technical field
The present invention relates to a kind of design method of the submissive diameter changing mechanism of diameter-variable wheel, belong to mechanism design field.
Background technology
The submissive diameter changing mechanism is primarily to realize the diameter change of diameter-variable wheel, and current this mechanism is applied to one
Plant new type lunar rover diameter-variable wheel and new mobile platform diameter-variable wheels of dwelling more.Due to submissive diameter changing mechanism rely primarily on it is soft
Deformation along hinge produces the problems such as motion, Wear, lubrication, sealing, makes portable construction compact.Such as Publication No. CN
101503044 application for a patent for invention discloses a kind of machine liquid linkage reducing wheel carrier suitable for diameter-variable wheel, but this
Diameter changing mechanism does not have a system, the design method of science, is mostly rule of thumb to be designed with experiment, hinders this kind
The further application and popularization of mechanism and diameter-variable wheel.
The content of the invention
For above-mentioned problem, the present invention proposes a kind of design method of the submissive diameter changing mechanism of diameter-variable wheel,
Be it is a kind of it is convenient it is reliable can according to different wheel diameter variations require determine mechanism dimensions submissive diameter changing mechanism optimization design
Method.
The technical solution adopted by the present invention is to carry out according to the following steps successively：
Step 1: determining diameter changing mechanism design variable and the kinematic geometry relation between them；
Sub-step 1：Being capable of holding structure stability (spoke bar keeps isosceles-trapezium-shaped), root assuming that taking turns leg during reducing
The geometrical relationship of two extreme positions is opened and closed up according to diameter-variable wheel, and the projection by horizontal direction is equal to be obtained：
Sub-step 2：Formula (1) is subtracted each other with formula (2) and obtained：
It can must then connect wheel hub and the spoke pole length of caster is：
Sub-step 3：Formula (4) is substituted into formula (1), can obtain clipping room of the spoke bar on caster away from for：
Sub-step 4：To sum up sub-step 1 is to step 3, it may be determined that design variable is：
X=[x1, x2, x3, x4, x5]=[θ1, β1, β2, Dcq, θ2] (6)
Wherein β2Angle during wheel footpath maximum for same wheel leg between the spoke bar of both sides, the angle in minimum wheel diameter is β1；
θ2Central angle folded by mount point and core wheel of the both sides spoke bar in gear ring during wheel footpath maximum for same wheel leg, in minimum wheel diameter
Central angle be θ1, DcqFor hub diameter.
Step 2: determining the constraints of diameter changing mechanism design variable；
Edge-restraint condition：
90 ° of ＜ θ1180 ° of ＜ (7)
0 ° of ＜ β190 ° of ＜ (8)
0 ° of ＜ β290 ° of ＜ (9)
0 ＜ l (10)
0 ＜ Dcq (11)
Installation interval constraint of the spoke bar on caster：
60 ＜ sl＜ Dminsin30° (12)
Step 3: determining diameter changing mechanism design object and setting up its optimized mathematical model；
Sub-step 1：Arc caster outer rim midpoint to installed in caster spoke bar midpoint between radial distance：
Sub-step 2：When closing up extreme position, the actual radial displacement of caster outer rim central point：
Sub-step 3：When opening extreme position, the actual radial displacement of caster outer rim central point：
Sub-step 4：Object function f (θ1, β1, β2, Dcq, θ2) according to make the actual radial displacement of caster outer rim central point with
Given radial displacement is set up opening and closing up the error mean square root minimum of two extreme positions, and its expression formula is：
Step 4: given initial value, solves the nonlinear constrained programming as optimized algorithm using interior point method, obtains machine
Structure dimensional parameters.
Advantage of the present invention than prior art：
Currently for the design method of the submissive diameter changing mechanism of diameter-variable wheel, mainly rule of thumb, or repetition test is right
After verify, then modify, finally determine the design parameter of the mechanism.Therefore, when the wheel diameter variation demand of diameter-variable wheel changes
, it is necessary to change original mechanism parameter repeatedly during change, whole design process takes time and effort.Set using diameter changing mechanism proposed by the present invention
Its structural parameters not only can be carried out rational optimization design by meter method according to diameter-variable wheel wheel diameter variation demand；Also may be used
Theoretical direction is provided using the control of kinematic geometry relation equation as wheel diameter variation using this method；This method being capable of rapid and convenient
Ground obtains optimal mechanism design parameter, with higher practical value.
Brief description of the drawings
Fig. 1 is a kind of design method operational flowchart of the submissive diameter changing mechanism of diameter-variable wheel of the present invention.
The kinematic geometry graph of a relation of Fig. 2 a, b for submissive diameter changing mechanism of the invention when opening (Fig. 2 a) and closing up (Fig. 2 b).
The geometry of Fig. 3 a, b for the single wheel leg of submissive diameter changing mechanism of the invention when opening (Fig. 3 a) and closing up (Fig. 3 b)
Graph of a relation.
Embodiment
For a better understanding of the present invention, it is further detailed with reference to example：
The present invention a kind of submissive diameter changing mechanism of diameter-variable wheel design method, its operating process as shown in figure 1, including
Following steps：
Step 1: determining diameter changing mechanism design variable and the kinematic geometry relation between them；
Sub-step 1：Assuming that taken turns during reducing leg can holding structure stability (spoke bar keep isosceles-trapezium-shaped), such as
Fig. 2 a, b, shown in Fig. 3 a, b, open and close up the geometrical relationship of two extreme positions, by horizontal direction according to diameter-variable wheel
Projection is equal to be obtained：
Sub-step 2：Formula (1) is subtracted each other with formula (2) and obtained：
It can must then connect wheel hub and the spoke pole length of caster is：
Sub-step 3：Formula (4) is substituted into formula (1), can obtain clipping room of the spoke bar on caster away from for：
Sub-step 4：To sum up sub-step 1 is to step 3, it may be determined that design variable is：
X=[x1, x2, x3, x4, x5]=[θ1, β1, β2, Dcq, θ2] (6)
Such as Fig. 2 a, b, shown in Fig. 3 a, b, wherein β2Angle during wheel footpath maximum for same wheel leg between the spoke bar of both sides, in minimum
Angle during wheel diameter is β1；θ2Circle folded by mount point and core wheel of the both sides spoke bar in gear ring during wheel footpath maximum for same wheel leg
Heart angle, the central angle in minimum wheel diameter is θ1, DcqFor hub diameter.
Step 2: determining the constraints of diameter changing mechanism design variable；
Edge-restraint condition：
90 ° of ＜ θ1180 ° of ＜ (7)
0 ° of ＜ β190 ° of ＜ (8)
0 ° of ＜ β290 ° of ＜ (9)
0 ＜ l (10)
0 ＜ Dcq (11)
Installation interval constraint of the spoke bar on caster：
60 ＜ sl＜ Dmin sin 30° (12)
Step 3: determining diameter changing mechanism design object and setting up its optimized mathematical model；
Such as Fig. 2 a, b, shown in Fig. 3 a, b, the diameter-variable wheel with six wheel legs is given, it is desirable to minimum diameter when closing up
DminFor 240mm, maximum dimension D when openingmaxFor 400mm.
Sub-step 1：Arc caster outer rim midpoint to installed in caster spoke bar midpoint between radial distance：
Sub-step 2：When closing up extreme position, the actual radial displacement of caster outer rim central point：
Sub-step 3：When opening extreme position, the actual radial displacement of caster outer rim central point：
Sub-step 4：Object function f (θ1, β1, β2, Dcq, θ2) according to make the actual radial displacement of caster outer rim central point with
Given radial displacement is set up opening and closing up the error mean square root minimum of two extreme positions, and its expression formula is：
Step 4: given initial value X=[θ1, β1, β2, Dcq, θ2120 ° of]=[, 60 ° 40 °, 150,90 °], made using interior point method
The nonlinear constrained programming is solved for optimized algorithm, mechanism dimensions are obtained；Such as table 1 below：
Table 1.
Claims (4)
1. a kind of design method of the submissive diameter changing mechanism of diameter-variable wheel, it is characterised in that：This method comprises the following steps：
Step 1: determining diameter changing mechanism design variable and the kinematic geometry relation between them；
Step 2: determining the constraints of diameter changing mechanism design variable；
Step 3: determining diameter changing mechanism design object and setting up its optimized mathematical model；
Step 4: given initial value, solves the nonlinear constrained programming as optimized algorithm using interior point method, obtains mechanism chi
Very little parameter.
2. a kind of design method of the submissive diameter changing mechanism of diameter-variable wheel according to claim 1, it is characterised in that：It is described
Step one specifically includes following sub-step：
Sub-step 1：Assuming that taken turns during reducing leg can holding structure stability, opened according to diameter-variable wheel and close up two
The geometrical relationship of extreme position, projection by horizontal direction is equal to be obtained：
<mrow>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>c</mi>
<mi>q</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>&times;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mi>l</mi>
<mo>&times;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mfrac>
<msub>
<mi>s</mi>
<mi>l</mi>
</msub>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>c</mi>
<mi>q</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>&times;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mi>l</mi>
<mo>&times;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mfrac>
<msub>
<mi>s</mi>
<mi>l</mi>
</msub>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
Sub-step 2：Formula (1) is subtracted each other with formula (2) and obtained：
<mrow>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>c</mi>
<mi>q</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>&times;</mo>
<mo>&lsqb;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>=</mo>
<mi>l</mi>
<mo>&times;</mo>
<mo>&lsqb;</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
It can must then connect wheel hub and the spoke pole length of caster is：
<mrow>
<mi>l</mi>
<mo>=</mo>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>c</mi>
<mi>q</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>&times;</mo>
<mfrac>
<mrow>
<mo>&lsqb;</mo>
<mrow>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mrow>
<mo>&lsqb;</mo>
<mrow>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
<mo>&rsqb;</mo>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
Sub-step 3：Formula (4) is substituted into formula (1), can obtain clipping room of the spoke bar on caster away from for：
<mrow>
<msub>
<mi>s</mi>
<mi>l</mi>
</msub>
<mo>=</mo>
<msub>
<mi>D</mi>
<mrow>
<mi>c</mi>
<mi>q</mi>
</mrow>
</msub>
<mo>&times;</mo>
<mrow>
<mo>{</mo>
<mrow>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mfrac>
<mrow>
<mo>&lsqb;</mo>
<mrow>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
<mo>&rsqb;</mo>
</mrow>
<mrow>
<mo>&lsqb;</mo>
<mrow>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
<mo>&rsqb;</mo>
</mrow>
</mfrac>
<mo>&times;</mo>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
<mo>}</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Sub-step 4：To sum up sub-step 1 is to step 3, it may be determined that design variable is：
X=[x1, x2, x3, x4, x5]=[θ1, β1, β2, Dcq, θ2] (6)
Wherein β2Angle during wheel footpath maximum for same wheel leg between the spoke bar of both sides, the angle in minimum wheel diameter is β1；θ2For
Central angle, the circle in minimum wheel diameter folded by mount point and core wheel of the both sides spoke bar in gear ring during same wheel leg maximum wheel footpath
Heart angle is θ1, DcqFor hub diameter.
3. a kind of design method of the submissive diameter changing mechanism of diameter-variable wheel according to claim 1, it is characterised in that：It is described
Step 2 is specific as follows：
Edge-restraint condition：
90 ° of ＜ θ1180 ° of ＜ (7)
0 ° of ＜ β190 ° of ＜ (8)
0 ° of ＜ β290 ° of ＜ (9)
0 ＜ l (10)
0 ＜ Dcq (11)
Installation interval constraint of the spoke bar on caster：
60 ＜ sl＜ Dminsin30° (12)。
4. a kind of design method of the submissive diameter changing mechanism of diameter-variable wheel according to claim 1, it is characterised in that：It is described
Step 3 specifically includes following sub-step：
Sub-step 1：Arc caster outer rim midpoint to installed in caster spoke bar midpoint between radial distance：
<mrow>
<msub>
<mi>s</mi>
<mi>p</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>-</mo>
<msup>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>s</mi>
<mi>l</mi>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>13</mn>
<mo>)</mo>
</mrow>
</mrow>
Sub-step 2：When closing up extreme position, the actual radial displacement of caster outer rim central point：
<mrow>
<msub>
<mi>r</mi>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
<mo>=</mo>
<mi>l</mi>
<mo>&times;</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>c</mi>
<mi>q</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>&times;</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>s</mi>
<mi>p</mi>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>14</mn>
<mo>)</mo>
</mrow>
</mrow>
Sub-step 3：When opening extreme position, the actual radial displacement of caster outer rim central point：
<mrow>
<msub>
<mi>r</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>=</mo>
<mi>l</mi>
<mo>&times;</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&beta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>c</mi>
<mi>q</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>&times;</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>&theta;</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>s</mi>
<mi>p</mi>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>15</mn>
<mo>)</mo>
</mrow>
</mrow>
Sub-step 4：Object function f (θ1, β1, β2, Dcq, θ2) according to make the actual radial displacement of caster outer rim central point with it is given
Radial displacement is set up opening and closing up the error mean square root minimum of two extreme positions, and its expression formula is：
<mrow>
<mi>min</mi>
<mi> </mi>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>X</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<msqrt>
<mfrac>
<mrow>
<mo>&lsqb;</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>r</mi>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
<mo>-</mo>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>r</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<mfrac>
<msub>
<mi>D</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>&rsqb;</mo>
</mrow>
<mn>2</mn>
</mfrac>
</msqrt>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>16</mn>
<mo>)</mo>
</mrow>
<mo>.</mo>
</mrow>
2
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710480670.1A CN107301292B (en) | 2017-06-22 | 2017-06-22 | Design method of flexible reducing mechanism of variable-diameter wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710480670.1A CN107301292B (en) | 2017-06-22 | 2017-06-22 | Design method of flexible reducing mechanism of variable-diameter wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107301292A true CN107301292A (en) | 2017-10-27 |
| CN107301292B CN107301292B (en) | 2020-09-22 |
Family
ID=60135961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710480670.1A Active CN107301292B (en) | 2017-06-22 | 2017-06-22 | Design method of flexible reducing mechanism of variable-diameter wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107301292B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117171863A (en) * | 2023-11-02 | 2023-12-05 | 长江勘测规划设计研究有限责任公司 | Design method of variable-diameter type water delivery tunnel for reducing large deformation of soft rock |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486295B (en) * | 2009-02-11 | 2010-08-18 | 北京航空航天大学 | Reducing mechanism for diameter variable wheel |
| CN101954834A (en) * | 2010-08-05 | 2011-01-26 | 北京航空航天大学 | Combined spring variable-diameter wheel carrier for variable-diameter wheel |
| CN103921786A (en) * | 2014-04-11 | 2014-07-16 | 北京工业大学 | Nonlinear model prediction control method of regenerative braking of electric vehicle |
-
2017
- 2017-06-22 CN CN201710480670.1A patent/CN107301292B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486295B (en) * | 2009-02-11 | 2010-08-18 | 北京航空航天大学 | Reducing mechanism for diameter variable wheel |
| CN101954834A (en) * | 2010-08-05 | 2011-01-26 | 北京航空航天大学 | Combined spring variable-diameter wheel carrier for variable-diameter wheel |
| CN103921786A (en) * | 2014-04-11 | 2014-07-16 | 北京工业大学 | Nonlinear model prediction control method of regenerative braking of electric vehicle |
Non-Patent Citations (2)
| Title |
|---|
| SUN GANG 等: "Mobility performance analysis of an innovation lunar rover with diameter-variable wheel", 《SECOND INTERNATIONAL CONFERENCE ON SPACE INFORMATION TECHNOLOGY》 * |
| 崔莹 等: "可变直径轮月球探测车运动学建模与分析", 《北京航空航天大学学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117171863A (en) * | 2023-11-02 | 2023-12-05 | 长江勘测规划设计研究有限责任公司 | Design method of variable-diameter type water delivery tunnel for reducing large deformation of soft rock |
| CN117171863B (en) * | 2023-11-02 | 2024-02-13 | 长江勘测规划设计研究有限责任公司 | Design method of variable-diameter type water delivery tunnel for reducing large deformation of soft rock |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107301292B (en) | 2020-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103281083B (en) | Approach by inchmeal fully differential analog-digital converter with figure adjustment and processing method thereof | |
| CN103076743B (en) | Tension fuzzy PID (Proportion Integration Differentiation) control method for recoiling machine | |
| CN104765350B (en) | Cement decomposing furnace control method and system based on Combined model forecast control technology | |
| CN102411304A (en) | Optimization method of spacecraft small-angle attitude maneuver control parameters | |
| CN107301292A (en) | A kind of design method of the submissive diameter changing mechanism of diameter-variable wheel | |
| CN102733311A (en) | Line shape control method for short line method segment prefabrication construction | |
| CN109782759B (en) | Approximate decoupling and rapid track following control method of wheeled mobile robot | |
| CN109214093A (en) | The restorative procedure of the recessed cusp design defect of N leaf non-circular gear pitch curve | |
| CN106655226A (en) | Active power distribution network asymmetric operation optimization method based on intelligent soft open point | |
| CN108511908A (en) | A kind of satellite antenna automatic following control system and method inhibiting function with phase | |
| CN110103740A (en) | A kind of control method of the wireless dynamic charging system of electric car | |
| CN103411628B (en) | A kind of disposal route of MEMS gyro instrument Random Drift Error | |
| CN104298834A (en) | Object oriented technology-based direct current system modeling method and fault simulation method | |
| CN207256090U (en) | Air passage coaming plate detent mechanism and wind channel ring clamping apparatus | |
| CN103474774B (en) | A kind of antenna for base station lower decline angle adjusting apparatus and method | |
| CN106127348A (en) | A kind of multi-reservoir joint optimal operation feasible decision space discrimination method | |
| CN205518368U (en) | Five flush coaters | |
| CN102497209B (en) | Sliding window type data sampling method and device | |
| CN103995469A (en) | Method for designing controller of non-minimum-phase constant-temperature continuous stirred tank reactor | |
| CN204195116U (en) | Numerical control automatic welding platform | |
| CN107703899B (en) | A kind of catalyst hybrid reaction control device based on empirical mode decomposition dynamic optimization | |
| CN103777994B (en) | Heavy truck double-front-axle steering optimization method | |
| CN208654613U (en) | A kind of bamboo coiled composite tube road Winding machine control system | |
| CN107256305A (en) | A kind of method for determining the vehicle steering knuckle radius of gyration | |
| CN109815636B (en) | Cement paste rheological iterative algorithm for rotary viscometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |