Six-dof Parallel Mechanics Design And Analysis Of Polishing Wheel

At present,the product polishing has become an indispensable step in many industrial processes.Manual grinding low efficiency,high cost and difficult to control quality can not meet the requirems of mass production,has become the current urgent problems.Automatic polish system has the characteristics of low cast and high efficiency,and grinding quality stable,alternative solutions manual grinding is increasingly becoming many businesses.Six degrees of freedom parallel mechanism Stewart platform with solid or payload installation clip device,the workpiece movement through six drive leg support and drive,drive the work platform based on coherent trajectory command requests,implementation in the multidimensional space of six degrees of freedom,workpiece precision delivery or the target can be accurate docking,these features very applicable in automatic polishing system.In this paper,the six-dof Stewart parallel mechanism used for wheel hub polishing and polishing in wheel hub automation production line is designed.Mainly completed the following work.(1).in the research on the basis of current situation of the development of parallel mechanism and current application,combined with the actual requirements,the design of the prototype and prototype parameterized structure model is established,the model can be adjusted by the input parameters base and the structure of the six driving leg shape and relative position of each structure relations,etc.(2).create a mathematical model corresponding to the Stewart parallel platform in MATLAB/Simulink and establish a parameterized system framework.The system framework consists of four parts: generating motion trajectory,establishing inverse vector relation,adaptive controller,and mechanical structure.Each part is connected by the relation line.The relative position,velocity,acceleration and other parameters of each part of the Stewart parallel platform are solved based on the relationship between the position and the space motion of the rigid body.Adaptive PID control parameter is adopted to reduce the deviation signal of feedback.(3).By Solidworks software prototype model is established,the physical prototype model into ADAMS software,the dynamic simulation of prototype process,analysis of kinematics and dynamics characteristics of a prototype.The results are compared with Simulink simulation results,and the correctness of the mathematical model established in Simulink simulation is verified.(4).The working space configuration and scope of the parallel platform are analyzed by means of the boundary search method.By adopting the fixed base with adjustable relative position and changing the form of the sub-structure of the ball,the working space of the platform and the carrying capacity can be increased,so as to expand the application scope of the platform.