Kinematics And Dynamics Analysis And Research Of Welding Manipulator For Lithium Battery

Lithium-ion battery has many advantages,such as large capacity,long service life,good storage performance and so on.It has been widely used at present.18650 is a standard lithium battery model.Its working stability is very good and is widely used in many electronic fields.In order to realize the automation of welding equipment for 18650 lithium battery pack,a lithium battery welding manipulator is designed according to the welding technology of lithium battery,and its kinematics and dynamics simulation analysis is carried out.The main work accomplished in the article is as follows.(1)According to the requirements of the lithium battery welding process,a lithium battery welding manipulator is designed including the overall layout design,the design of each part structure as well as the use of Solidworks to establish the 3D model of the welding manipulator.(2)The kinematics analysis of the welding manipulator is carried out.The welding manipulator connecting rod coordinate system is established according to the D-H parameter method.Kinematics equation of the welding manipulator is established according to the position and attitude transformation formula and the Robotic Toolbox for Matlab simulation toolbox is used to test whether the kinematics equation is correct.(3)Select welding path scheme and partition the path into a set of line segments based on the analysis of kinematics.Calculate the angle of each welding point based on the inverse kinematics equations.Use cubic polynomial curve to tectonic movement trajectory for each joint which provides a theoretical basis for the simulation analysis in the following.(4)The dynamic equation of the manipulator is analyzed and deduced.This dynamic equation can be used as the basis for dynamic control of manipulator,and estimate the driving force and torque required for each joint at certain speed and acceleration so as toprovide basis for selecting suitable driving device for manipulator.(5)Kinematics and dynamics of welding manipulator is simulated based on ADAMS.