Research And Analysis Of A Novel Automatic Laying Parallel Mechanism

Aiming at the problems of the weight of the tape laying head and the complex structure of the special-shaped component in the composite material laying of special-shaped part in aerospace,this paper carries out the research on the laying plan and the parallel mechanism of the position adjustment of the laying head.A new type of2-UPU&R(2-R(RR&RPR)R)parallel mechanism is proposed as the position adjustment platform of the tape laying head,and theoretical analysis and size optimization are carried out to construct a virtual prototype model of the position adjustment platform.Simulation analysis,and production of actual prototypes for experimental verification.The thesis provides technical support for the final structural configuration of the placement of special-shaped part,which has important research significance.The following research and analysis are carried out on this.(1)The overall processing plan design for the laying of composite materials for special-shaped part.Analyze the laying characteristics of composite materials and the structural characteristics of special-shaped part,analyze the processing technology,and put forward the overall plan of large-scale special-shaped part composite material laying in combination with actual engineering needs,and determine the optimal plan to meet the requirements through comparison.(2)The configuration design of the new parallel laying mechanism.Analyze the requirements of composite material placement and the degree of freedom of pose adjustment,and obtain the required functional characteristics and degree of freedom of the pose adjustment platform.Design a new type of parallel mechanism configuration that meets the requirements of laying work.(3)Kinematics analysis of the new type parallel mechanism.The forward and inverse position solutions between the moving platform and the driving pair of the parallel mechanism and the velocity mapping relationship between the moving platform and the driving pair are solved.(4)Kinematics performance analysis of a new parallel mechanism.The work space analysis,singularity analysis,static stiffness analysis and dexterity analysis of the new parallel mechanism are included.The work space of the mechanism is calculated and compared with the actual work space.The singular position of the mechanism is analyzed and the avoidance strategy is proposed.The static stiffness and dexterity of the mechanism were analyzed on the basis of Jacobian condition number.(5)The structural size of the new parallel mechanism is optimized.According to the optimization goal,the appropriate optimization algorithm is selected,the optimized objective function and optimization parameters are established,the optimization parameters are given,and the programming calculation is performed based on MATLAB software to determine a set of optimal design parameters for the pose adjustment platform.(6)Virtual prototype and physical prototype experiment of the new parallel mechanism.Based on UG NX and ADAMS software,a virtual prototype model is established according to the optimized parameters,and kinematics simulation analysis is performed.Simultaneously,the kinematics is simulated and analyzed based on MATLAB software.According to the virtual simulation results,the design,processing,assembly and prototype experiment of the physical prototype are carried out.The DOF and inverse kinematics of the mechanism are verified by virtual prototype and actual prototype experiments,and the feasibility of the parallel laying scheme is verified.