| With the rapid development of railway, city subway and light rail in china, the speed of train is continuously raising. After the sixth speed-up campaign, High-speed train has become the significant sign in the railway development history. As the increase of train's speed, the safety and accuracy requirements of train body are also enhanced. Aluminum alloy Lightweight train body has became the first choice for high-speed train. At the same time, the change of train body material and process requirement brought the problem that its Productivity were serious insufficient. It is mainly because that production efficiency and working accuracy are limited by Welding and post-processingThis project take weld seam grinding treatment for large-scale workpiece as an engineering background, and devotes in improving the condition that low efficiency of manual working, heavy labor intensity and the low accuracy of grinding, so an autonomous weld seam grinding robot is designed.the robot combines tracked walk way and Vacuum suction together. The contradiction between the stiffness of large-scale processing and the size of workpiece is solved in this project. And the processing flexibility of equipment is greatly improvedIn this paper, the development status and trends of plane grinding and mobile robot are studied, and then working conditions and processing requirements are considered, after these works, a multi-sucker-tracked robot design plan is determined. Feasibility studies and development are taken about vacuum adsorption, grinding feed and tracked walking functions in detail. Key components about robot noumenon are deeply designed and checkedThe static stability of robot is analyzed, and then the reason of instability is given. After Static model and equation are found, security conditions are given as follow:① Security Angle in the direction of robot forward,θmax< 64°;②Security Angle in vertical direction of robot forward,α< 36°;③Security Angle that suction cups can hold its position,θ≤50°. The turning model of robot is described; this model combines wheeled and tracked turning model in together. In order to obtain turning radius and allows, turning conditions is calculated. So that it can meet the requirement of weld seam tracking. Control strategy and work procedure are detailed analyzed and planned at last.The mathematical model of the robot is built, base on the software of CATIA, then the motion constraints are imposed in Simdesign for Catia. The simulations about Executive body and walking body are carried on by ADAMS. According to the real work situation, the forces on robot are set to the model, And the torques which are exerted to module slider are simulated. Then maximum torque is given, in order to meet its Normal work condition. The key parameters are also simulated, such as, displacement in vertical and velocity, acceleration in Horizontal. The results are studied and the optimization suggestions are put forwardThis paper carries on based on the National Natural Science Fund Projecf" Researchon a Micro-polishing Robot that polishing and self-positioning on the free-form surface"... |
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