CAJ | 학술논문

　　设计了一种新型的汽车排放试验用驾驶机器人换挡机械手，利用CATIA软件建立换挡机械手的三维模型，把模型导入到ADAMS中进行后续的约束与驱动的添加，从而得到换挡机械手的虚拟样机，然后对换挡机械手虚拟样机进行仿真分析，得到了换挡机械手手爪的位移、速度、加速度之间的关系，验证了所建立的换挡机械手模型是可行的，能够满足实际工况的需要，并为后续的优化设计和样机制造提供了参考依据。
　　설계료일충신형적기차배방시험용가사궤기인환당궤계수，이용CATIA연건건립환당궤계수적삼유모형，파모형도입도ADAMS중진행후속적약속여구동적첨가，종이득도환당궤계수적허의양궤，연후대환당궤계수허의양궤진행방진분석，득도료환당궤계수수조적위이、속도、가속도지간적관계，험증료소건립적환당궤계수모형시가행적，능구만족실제공황적수요，병위후속적우화설계화양궤제조제공료삼고의거。
A prototype of automobile gear shifting manipulator for vehicle emission test was designed and developed. Then the three dimen-sional model of the gear shifting manipulator was builded up by using CATIA software and the model was imported into ADAMS software and turned into a virtual prototype of the manipulator. Then the virtual prototype was analyzed in ADAMS, the relationships among the dis-placement、 the velocity and the acceleration were obtained about the paw of the gear shifting manipulator. The simulation results reflect that the three dimensional model was able to meet the need of the actual working conditions. It also provided the reference for the follow design.