Optimal Design And Characteristic Analysis Of Flexible Wrist Of Casting Polishing Robot

The proposal of Made in China 2025 puts forward higher requirements for my country's traditional manufacturing industry in the new era.With the continuous improvement of the domestic industrial base,the demographic dividend is relatively weakened,and the manufacturing cost continues to increase.The traditional manufacturing field is gradually developing towards automation and intelligence.In the grinding process of mechanical processing,most of them still adopt manual production methods.This method has serious problems such as unstable processing quality,low efficiency,and large harm to human body.Therefore,it is mechanical to use robots instead of artificial to polish castings.An urgent requirement in the processing field.However,the consistency of the incoming castings is poor,and there is a large range of shock and vibration during work.The working conditions will have a greater impact on the grinding of the workpiece and the robot,and even damage the robot body.In response to this situation,this paper proposes a flexible buffer device-flexible wrist,which is connected in series at the execution end of the polishing robot,which provides an effective buffer and vibration reduction effect for the polishing robot system,so that the polishing system maintains good polishing stability in actual work.Improve the polishing performance of the system.First,based on the inherent characteristics of the polishing robot and the casting polishing process,the actual requirements of the flexible link in the power transmission of the polishing system are analyzed,combined with the characteristics of different flexible floating driving methods,and the pneumatic driving method is given to realize the flexible wrist 2R+1T multiple degrees of freedom.Flexible deformation plan,and 3D modeling of flexible wrist structure in Solidworks,and static mechanical analysis and verification of key force components.Secondly,in order to analyze its stiffness and damping characteristics,establish a multi-degree-of-freedom nonlinear dynamic model corresponding to the flexible wrist structure,and use fluid mechanics and thermodynamics to characterize the nonlinear stiffness and damping characteristics of the flexible wrist under changes in working compressed air.The factors affecting the stiffness and damping characteristics of the flexible wrist are presented,which provides a theoretical basis for the analysis of its actual influence law.Use the Amesim simulation platform to simulate the aerodynamic model of the flexible wrist,analyze the dynamic characteristics of the flexible wrist in the working process,and parameters such as the initial pressure of the working air cavity,the volume of the air cavity,and the effective bearing area of the floating column.Polishing stability and other output characteristics and the influence law of process quantity.Finally,a flexible wrist prototype was made,and an experimental platform based on the polishing robot system was built.The surface processing effect of the polished castings before and after adding the new structure was verified.The experimental results show that adding the flexible wrist to the polishing robot system can improve the polishing effect of the casting surface.The flexible wrist is added to the polishing robot system,which can reduce vibration and impact,improve the stability and smoothness of polishing,and enhance the polishing performance of the system.