Structural Design And Performance Analysis Of Movable Casting Robot In Complex Environment

Foundry plays an important role in industrial production,castings have been widely used in aviation,aerospace,automobile,electronics and other fields,the application of robotic technology in foundry industry is the key measure to realize green casting and intelligent casting.However,the series robots generally have some shortcomings,such as small load,large error and insufficient flexibility,their working range is severely limited,which makes it difficult to meet the requirements of large and medium castings and special castings.This paper presents a mobile casting robot with hybrid mechanism as the main structure,which can meet the requirements of flexible working range,large load and high positioning accuracy at the same time.The overall structure and working principle of the mobile casting robot are determined,and the degree of freedom of motion of the parallel manipulator is solved by the screw theory.It is determined that the 2RPU-2RRPR parallel manipulator can realize a translational,two rotational and three-degree-of-freedom motion.Four moving pairs are determined as active pairs according to the selection principle of driving pairs.Based on vector equation method,the position equation between input and output of 2RPU-2RRPR parallel manipulator is established.The displacement curves of each bar length with time under different motion states are obtained by using MATLAB.The correctness of numerical calculation and simulation results is verified by combining ADAMS virtual simulation.Based on the inverse solution of kinematic degree,the mapping relationship between the speed and acceleration of the driving pair of parallel manipulator and the moving platform is obtained by derivation method.According to the reduced rank type of Jacobian matrix,the geometric conditions of three kinds of singularities are calculated,which provides a theoretical basis for the avoidance of singularities in the motion of foundry robots.At the same time,based on Monte Carlo method,the parallel manipulator is implemented.Three dimensional and cross sectional drawings of workspace during pouring operation.Based on the virtual work principle,the mapping relationship between driving force and load under balanced state is analyzed,and the mechanical model under gravity is established.The constraint force on upper and lower hinges is obtained by the method of dismantling the bar.The dynamic equation of parallel manipulator under inertia force is obtained,and the experimental prototype of foundry robot is built by structural optimization design and theoretical calculation.Based on TRIZ theory,an omnidirectional multi-fingered asynchronous gripper of casting robot was designed to carry and grasp special-shaped castings and medium and large castings.Static and modal analysis of the gripper was carried out by ANSYS Workbench,and part of the structure and size were optimized,which provided a basis for the design and manufacture of the gripper prototype.Finally,the validity of theoretical calculation and simulation is verified by the experiment prototype of casting robot.Figure [80] table[8] reference[86]...