Optimization Design and Performance Analysis of a Shift Manipulator for the Robotic Driver

Abstract

Some automotive tests require the driver to complete shift actions within a required time, or require a large number of repetitive shift actions, which is a challenge for the driver. In order to help the driver to complete the shift action, a shift manipulator is proposed in this paper. First, the shift manipulator is a new two-degree-of-freedom mechanism with servo motor drive and connecting rod transmission. The degree-of-freedom of the shift manipulator is analyzed based on the screw theory, and the kinematics model is established by the geometric method. Then, the structural dimension is optimized based on the kinematics model and the constraints of the working space. Finally, a gearshift experiment platform was established by using a gear shift assembly. According to the experiment results, the shift manipulator can complete the shift action within the required time based on the shift path. The shift manipulator designed in this paper can help the driver to complete the shift action and meet the automotive test requirements. Compared with current related research, the shift manipulator has high accuracy and fast transient response, indicating a good practical application value.