The Design And Simulation Of 3D Sewing Manipulator

Composite materials have many advantages, more and more widely applied in manufacturing. With its application in composite materials, people put forward higher request for compound material stitched processing technology. The traditional sewing processing technology gradually cannot satisfy the complex shaped structure with suture. Based on the investigation of the relevant material, extensive information and understanding the current technology, this paper studies a kind of sewing manipulator, which is applicable to suture space curved surface. This sewing manipulator is a combination of robot technology and sewing technology, and it can suture 3D space curve. The main content of this research work in the following aspects:(1) According to the unilateral sewing process characteristics, the characteristic of the unilateral suture technology is analyzed and a set of suitable for single suture institution is designed. According to the robot pose, movement and force, the overall scheme of the manipulator is determined. On this basis, the manipulator's structure of driving system and implement system are designed, and the manipulator's 3d model is established by SolidWorks.(2) The form of 3D model of manipulator is simplified, and the mathematical model of the manipulator is established by using the D-H method. According to the method the robot kinematics equation is established. The kinematics solutions of positive and inverse are out. The manipulator Jacobian matrix is out too, and then the dynamics equations of manipulator are solved by using the algorithm of Lagrange.(3) Used ADAMS software the virtual prototype of manipulator is proceeded the kinematics and dynamics simulation. The movement process of the manipulator is simulated, and motion simulation curve are output. The stress condition of each joint is analysed, and the drive torque of joint movement is obtained. And using the simulation results the design of manipulator is verified, guiding the design of manipulator structure design.The project that the article plan and design about the sewing manipulator solver the limit, which the traditional sewing equipment cannot sew the space curve, and satisfy requirement of space curve sewing. Not only the application scope of sewing machine is expanded, also the economic benefits are greatly improved.