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Vehicle dynamic robot

Steering robot


The steering robot is controlled by a computer to make precise, repeatable measurements by applying input to the vehicle's steering system during road tests. Steering robots have been widely used around the world, with more than 1350 systems in use. Main applications include vehicle dynamics testing and steering system development, but many customers use its path following function to do some steering-independent experiments.

We provide a series of steering robot motors with a maximum torque of 150Nm. The standard models for typical testing are the SR30 and SR60, which provide rated torque outputs of 30 or 60Nm. The most torquey robot is the SR150, which can be tested when the power steering of a truck or bus fails (certification testing is a typical application).

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Performance specification for steering robots转向机器人-2.jpg转向机器人-3.jpg


Common control modes:

◆ Steering wheel angle control;

◆ Steering wheel torque control.


Installation method:

◆ Direct installation (installed on the vehicle steering column);

◆ Indirect installation (installed on the original steering wheel through an adapter).

(Note: Ring motor SR15, Torus, Orbit can only be installed on the top or back of the steering wheel)


Standard test template:

◆ SR Single Sine

◆ SR Continuous Sine

◆ SR Tyre Conditioning

◆ SR General Trapezoidal

◆ SR Parking Effort

◆ SR Kerbing

◆ SR Returnability

◆ SR Periodic Random Noise

◆ Path Following test(Option)

◆ SR Spin-out(sinusoidal)

◆ SR Linear Sweep

◆ SR Square Step

◆ SR Roll Stability

◆ SR Catch-up

◆ SR Derating

◆ SR Constant Level

◆ Learn test

◆ FMVSS126 test group

◆ SR Spin-out(const velocity)

◆ SR Const Vel Sweep

◆ SR Trapezoidal Step

◆ SR Pulse

◆ SR Slowly Increasing Steer

◆ SR Flick

◆ SR External follow

◆ SR Periodic Random Noise

◆ Regulation 13-H test group


Torque reaction mechanism:

1. Standard type: including torque measurement, the driver has the best visibility and the most secure installation.


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2. S-type installation: direct windshield installation, simple and fast installation, low price, without torque measurement sensor [can be estimated by motor current or installed with cylindrical torque sensor (only for SR30, SR60, SR150 with direct installation) ].

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3. TD-type torque reaction: installed on the passenger seat bolt, without torque measurement sensor [can be estimated by motor current or installed with cylindrical torque sensor (only for SR30, SR60 directly installed)].

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4. SR150 windshield mounting arm: specially used for SR150, without torque measurement sensor (can be estimated by motor current or installed with cylindrical torque sensor).

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The path following function of the steering robot:

By combining the steering robot with the inertial motion package with GPS correction, the steering robot can be used to guide the vehicle to travel along a set path to realize the function of path following. A path following accuracy of 2cm can be achieved if the DGPS correction motion package is used. Mainly used to improve the accuracy and repeatability of the test path, commonly used in obstacle avoidance tests, such as the fixed circle test for oversteering or understeering, ISO double lane change test, snake test, closed loop timing test, etc., the highest path following speed can reach 220KM/H.

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Path generation method:

◆ The human driver learns a path and then creates the path from the recorded data;

◆ Use the path to generate the geometric line segment in the software module, and draw the required path step by step;

◆ Create paths from raw ASCII data.



Halo Steering Robot

Halo uses a low-friction direct drive motor and lightweight housing material, making it a hollow-ring steering robot with the smallest moment of inertia and friction on the market. Compared with the SR60 Torus, the moment of inertia is 8.5 %, the open-loop friction is 30% smaller, which is even less of a problem compared to the hollow annular steering robot SR15/60 Orbit constructed with a geared motor. Crucially, it retains the advantage of a hollow ring motor that allows the airbag to deploy properly. It is ideal for current common tests including handling stability, ESC, AEB, ADAS, Euro NCAP Emergency Steering Support (ESS) new standards.转向机器人-9.jpg




Brake Padal Robots

Brake Pedal Robots apply input to the vehicle's brake pedal, enabling precise and repeatable measurements when experimenting on the road or in a laboratory.

The system is designed so that the vehicle can still drive normally and safely after installing it. Robots are suitable for use in cars and trucks.


Brake pedal robot control modes:

◆ Position control, with feedback provided by sensors on the actuator or directly connected to the brake pedal;

◆ Force control, feedback provided by force sensor measuring braking force;

◆ Deceleration control, feedback is provided by an acceleration sensor that can measure vehicle deceleration;

◆ Brake line pressure control, feedback provided by brake line pressure sensor;

◆ Speed control of auxiliary accelerator pedal robot.


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Brake robots performance specifications:

制动机器人 BR1000 CBR600 CBAR600L CBAR1000 RBR600 RBR1500 

Brake Robots
BR1000
CBR600CBAR600LCBAR1000PBR600RBR1500
Max. brake force
1400N 
750N 
750N 
1300N  
750N 
1600N

Max. brake 

speed

800 mm/s (no load) 
 1300 mm/s (no load)
1300 mm/s (no load) 
1500mm/s (no load)1300 mm/s (no load)
1600mm/s (no load)

Max. stroke (braking

enter)

 140mm
174mm
178mm

195mm

(225mm arm)

174mm 195mm (225mm arm)
Mechanical components mass
16kg
10 kg
 10.5 kg 
13kg
12kg (approx  motor unit  only) 
12kg (approx  motor unit  only)


◆ It is easy to install on most models-----no need to drill holes on the car;

◆ The actuator is mounted on the adjustable seat frame or on the driver's seat rail;

◆ After the braking robot is installed, the vehicle can still be driven normally;

◆ Can be used in combination with steering robots;

◆ The pedal stroke can be measured by a high-precision encoder;

◆ Can measure the braking force (there are two kinds of force sensor optional).


Standard Tests Templates:

◆ BR Trapezoidal Step test;

◆ BR Ramp Triggered Hold test;

◆ BR Triggered Mode Change test;

◆ BR User Defined test;

◆ BR External Follow test。


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Accelerator Pedal Robots

The precise control of the accelerator pedal provided by the AR1 accelerator pedal robot enables precise control of the vehicle speed. AR1 can be used in combination with steering robots and brake pedal robots. However, it can also be used alone where precise control of vehicle speed is required. For customers who require simultaneous brake and accelerator input, consider CBRA or separate brake and accelerator pedal robot which is closer to their actual application. When used in combination with the accelerator pedal robot and the path following steering robot, it is possible to control a variable speed along the path, but of course it cannot decelerate the vehicle any faster than the usual accelerator off coasting situation. If greater deceleration needs to be controlled, the assistance of the braking robot is required for perfect speed control.

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Accelerator Pedal Robots control modes::

◆ accelerator pedal position control;

◆ Vehicle speed control.


Performance Specifications:

Max. continuous padal force

approx. 150 N (70mm arm length)* 

approx. 110 N (95mm arm length)*

Max. accelerator padal stroke

approx. 130mm (70mm arm length) 

approx. 180mm (95mm arm length)

Max. accelerator padal speed
approx. 300mm/s (95mm arm length)


◆ Use an electronic rotary motor;

◆ Installation is very simple and fast;

◆ Mounted on seat rails (or attached to BR's seat mounting frame);

◆ The driver can drive the vehicle normally;

◆ Can be used in combination with steering robot and brake pedal robot;

◆ Compatible with various speed feedback sensors: GPS, quintuple, wheel speed encoder, speed data on the vehicle's CAN bus, etc.


Standard tests templates:

◆ AR Speed Throttle Event test;

◆ AR User Defined test;

◆ AR Trapezoidal Step test;

◆ AR Constant Level test;

◆ AR External Follow test;

◆ AR Clutch bit test.




Steering robots and clutch pedal robots

Steering robots and clutch pedal robots are mainly used for unmanned testing of manually shifted vehicles:

◆ The steering robot has two motors, which are used for X-Y direction control of the steering handle.

◆ Optional single-motor steering robot, mainly used for steering control of automatic transmission vehicles.

◆ There are two types of clutch robots to choose from, which are respectively used in combination with CBAR or BR/AR.

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Steering robots performance specifications:

 

Maximum front-rear force
60 N
Maximum lateral force
 45 N
Maximum front-rear stroke
190 mm
Maximum lateral stroke
110 mm
Steering time
0.25 - 0.5 seconds


Clutch Pedal Robots Performance Specifications:

 

 

Maximum force
0-250 N (increase if necessary)
Maximum stroke
0-140 mm


Driverless Test System

Since 2008, we have integrated a series of existing steering robots, brake pedal robots, accelerator pedal robots, clutch/shift robots and path following functions to develop the Driverless testing system, which is mainly used in: vehicle dynamics Testing, ADAS advanced driver assistance system testing, abuse testing, durability testing and other test applications. It realizes the driverless test that does not require the driver to be in the car at all, reducing the risk of the tester.无人驾驶测试系统-1.jpg

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◆The vehicle is controlled by a remote base station installed on the edge of the test track (either in a parked vehicle or in a building);

◆ Experiments can start from remote base station setup and control;

◆ The vehicle can be remotely controlled from the base station through the PC game console;

◆ The base station is provided with a failsafe emergency stop system.



0599-5202613