Structure Design And Dynamic And Static Characteristics Research Of Grinding And Cutting Robot For Medium And Large Castings

At present,the research on cutting and grinding of medium and large castings mainly adopts the traditional industrial tandem manipulator structure operation,which is difficult to meet the task requirements due to low moving efficiency,poor motion accuracy and end-degree of freedom flexibility.In order to solve the above problems,this paper designs a mixed-type mobile medium and large casting cutting and polishing robot to cut and polish large castings.This processing scheme not only improves the efficiency of casting cutting and polishing,the safety of production operation and the quality of processing are greatly improved,but also improves the flexibility of large casting processing.It can be processed for long distances.First,based on the TRIZ innovation method and the design principles of mechanical equipment,we use component analysis,function tailoring,causal axis analysis to find out the problem,and use technical contradiction method,physical contradiction method,and physical field model to solve the problem,and get a variety of solutions,and finally evaluate and implement.It is comprehensively designed to use the working arm of the tricept-like parallel mechanism as the executive device of casting cutting and grinding,and use the ground rail and rotary deviceNext,the degrees of freedom and coupling of the 3UPU-UP parallel mechanism are solved through mechanism topology.Then the kinematics analysis of the 3UPU-UP coupling parallel mechanism under the condition of casting cutting and grinding is carried out.The coupling constraint equation of the platform is solved through coordinate transformation.Solve inverse kinematics and forward kinematics,and get the change curve of kinematic rod length.Then,simplify the design of the cutting and grinding robot moving platform model studied,then establish the virtual prototype of the cutting and grinding robot moving platform model,and finally carry out dynamic simulation of the virtual prototype of the moving platform.Finally,the finite element simulation analysis is carried out on the key parts of the robot designed in this paper by using the simulation analysis software,so as to ensure the rationality of the structure design of the robot.According to the analysis results,it can be seen that the robot mixed working arm runs smoothly during the cutting and grinding work,the mechanical structure is safe and reliable,and meets the actual processing requirements.Figure [59] Table [8] Reference [71]...