复合材料切割机械手的设计研究

发布时间：2018-03-01 16:39

本文关键词： 复合材料关节型机械手运动仿真有限元分析　出处：《武汉理工大学》2013年硕士论文　论文类型：学位论文

【摘要】：复合材料经过多年的发展,广泛应用于航空、航天、汽车制造、化学工业、医疗等许多领域,针对应用于不同领域的各种复合材料,发展出了各种不同的加工工艺。随着复合材料产品的使用范围愈加广阔,为了提高产品的生产效率和质量,复合材料的自动化加工技术也随之产生并逐渐发展成熟。机械手历经近50年的发展,成为了制造业生产自动化中十分重要的机电设备,前景光明。首先,伴随现代控制技术的发展,机械手重复精度提高,其定位准确性得到增强。其次,机械手可具有重构化、模块化的机械结构,根据实际需要拼装,实现所对应的功能。再者,随着机电一体化技术的发展,由“可编程控制器、传感器、动作元件”组成的典型的自动化控制系统依然会是主流发展方向,在此系统中,传统的开关控制也将转变为反馈控制,从而进一步提升系统的精度。本论文的研究重点是碳纤维复合材料加工的机械手设计,机械手臂在复合材料加工中的应用,是近些年发展起来的复合材料自动化成型制造技术之一。包括超声波切割,超声波磨削等。超声波切割具有切口光滑、牢靠,切边准确,’不会变形,不翘边、起毛、抽丝、皱折等优点,应用于复合材料加工领域可解决加工过程中的粉尘问题,保证施工人员健康和设备正常运转。复合材料加工装备中机械手臂的智能化在复合材料后续加工技术中发挥着重要的作用。因此,为了满足我国航空航天工业对复合材料构件制造的需求,研究开发具有我国白主知识产权的复合材料切割机械手臀是非常必要的,也是急需解决的课题。本文结合相关项目的要求,设计出一种能够实现空间复杂轨迹运动的多自由度关节型机械手,提出多个结构方案并进行对比最终确定,并根据实际工作要求确定机械手具体尺寸及各部件选型,最终完成结构设计。之后利用Pro/ENGINEER软件进行机械手三维建模,并对装配模型进行运动仿真,模拟机械手空载和加工简单曲面的运动情况。之后利用有限元分析软件ANSYS对机械手的大臂和小臂进行了结构静力学分析和模态分析,得出分析结果以确保机构运动过程中的安全性和稳定性。
[Abstract]:After years of development, composite materials have been widely used in many fields, such as aviation, aerospace, automobile manufacturing, chemical industry, medical treatment and so on. With the wide use of composite materials, in order to improve the production efficiency and quality of composite materials, the automatic processing technology of composite materials has come into being and developed gradually. After nearly 50 years of development, the manipulator has become a very important mechanical and electrical equipment in manufacturing automation, and the prospects are bright. First, with the development of modern control technology, the manipulator repetition accuracy is improved. Second, the manipulator can have a reconfigurable, modular mechanical structure, which can be assembled according to the actual needs to achieve the corresponding functions. Furthermore, with the development of the mechatronics technology, by the programmable controller, The typical automatic control system composed of sensors and action elements will still be the mainstream development direction. In this system, the traditional switch control will also be changed into feedback control, thus further improving the accuracy of the system. The research focus of this paper is on the design of manipulator in carbon fiber composite processing, and the application of mechanical arm in composite material processing, which is one of the technologies developed in recent years for automatic molding of composite materials, including ultrasonic cutting. Ultrasonic grinding, etc. Ultrasonic cutting has the advantages of smooth cut, solid cutting, accurate edge cutting, no deformation, no edging, hair raising, drawing, wrinkling and so on. It can be used in the field of composite material processing to solve the dust problem in the process of processing. To ensure the health of the construction personnel and the normal operation of the equipment. The intellectualization of the mechanical arm in the composite material processing equipment plays an important role in the composite material follow-up processing technology. In order to meet the requirement of composite component manufacturing in China's aerospace industry, it is necessary to research and develop a composite cutting manipulator with intellectual property rights in China, which is also an urgent problem to be solved. According to the requirements of related projects, this paper designs a kind of multi-degree of freedom joint manipulator which can realize the movement of complex trajectory in space, and puts forward several structural schemes and makes comparison and final determination. According to the actual work requirements, the specific size of the manipulator and the selection of the components are determined, and the final structural design is completed. Then, the three-dimensional modeling of the manipulator is carried out by using Pro/ENGINEER software, and the motion simulation of the assembly model is carried out. The motion of manipulator with no load and simple curved surface is simulated. Then the structural static analysis and modal analysis of the manipulator's arm and forearm are carried out by using the finite element analysis software ANSYS. The results are obtained to ensure the safety and stability of the mechanism.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TP241

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