| With the continuous development and improvement of science and technology,people are increasingly demanding on the quality of paint on the surface of the car.In the modern automobile industry,most of coating mechanical arm are series configuration,compared with the serial mechanism,parallel mechanism has the advantages of simple structure,high bearing ratio,without accumulated error,fast response and so on,so choosing a parallel configuration arm to paint the surface of the car for high quality,so as to satisfy the people's demand.In this paper,a parallel mechanism 2-RPU/SPR is used as the base of the spraying mechanism,carrying on the related research and analysis,the concrete research contents include the following several aspects:1?Describing the mechanism structure and solving the parameter related kinematics.Using screw theory to solve mechanism motion screw series,getting the rotation and movement characteristics and the degree of freedom of 2-RPU/SPR parallel mechanism,using Kutzbach-Grübler formula to solve the freedom degree again,comparing the freedom which are solved by the two methods.The inverse solution of the mechanism is solved by using the rotation transformation matrix,and the inverse solution of the position is simulated by Matlab software.Using the position inverse solution of the mechanism to solve the kinematics Jacobian matrix,and using Matlab software to solve the specific mathematical model.The rotation angle will be Calculated and analyzed.2?Static study of parallel mechanism 2-RPU/SPR.The static analysis of the parallel mechanism 2-RPU/SPR is carried out,and the static mathematical model is solved.Workbench software is used to simulate the three-dimensional Pro/E model of the parallel mechanism,and finding out the institutional statics force meet and dangerous points.3?The establishment of the multi-objective optimization performance index.Using the working space,kinematics dexterity,stiffness,minimum and maximum carrying capacity to be as the multi-objective optimization performance indicators.Analyzing and establishing the local and global performance index of them.4?Multi-objective optimization.Using the NSGA-II multi-objective optimization method of Isight software to optimize the 2-RPU/SPR parallel mechanism,and analyzing the optimization results.5?Robustness analysis and optimization of 6Sigma for parallel mechanism.The Isight software is integrated with multi objective optimization module,Six Sigma quality analysis module and Matlab module,the noise factor is introduced to optimize,and 6Sigma robustness analysis and optimization for optimal solution of multi objective optimization. |
PDF Full Text Request