Design And Simulation Of The Moving Mechanism Of Micro-polishing Robot

ONE: IntroductionIn recent years, with the development of automobile industry, electronics industry, aeronautics and astronautics industry and some new high-tech industries, higher and higher requirements are made for quality and efficiency in machining die and mould with free-form surfaces. At present, processes of precision machining such as grinding and polishing still depend mainly on the handwork of skilled mechanists, which becomes a weak line for the die and mould manufacturing with low cost, short production cycle and high quality, and also becomes an adverse factor for the right trends of modern manufacturing to automation ultimately, and advanced die and mould manufacturing to automation, flexibility, integration and intelligence. Therefore, it is inevitable to study the theory and technology of automatic precision machining for free-form surfaces.Regarding the large-scale mold free-form surface, it needs a large polishing equipment to polish based on the traditional processing,the cost is large. Meanwhile there is a scope for processing accuracy, stiffness, stability and rapid movement numerous technical difficulties. The subject present a new technology idea that use the small finishing equipment for the processing of large free-form surface, the surface free from the research and development of micro-positioning polishing robot free surface geometry based on its own information and information technology in road surfaces free of large-scale self-lapping and polishing. It is the first that set the robot position / profile / pressure / velocity control integration at home and abroad.This paper carries on based on the National Natural Science Fund Project " Research on a Micro-polishing Robot that polishing and self-positioning on the free-form surface " , it completes the mechanical structure design, uses the CATIA software model a 3D solid, carries on a kinematics simulation based on the ADMAS software and verifies the feasibility of the stepped mechanism of Micro Polishing Robot.Two: Mechanical system design of the stepped mechanismMicro-robot research is due in large parabolic surface coverage on the vehicle for grinding and polishing operations. Therefore, in order to ensure normal work, we must have superior performance, the ability to operate adaptive institutions. So the design of stepped mechanism is the core structure. This paper from a large body of literature data and the operating current mobile robots, design a devices of three-wheel differential and additional auxiliary adsorption driven, and the completion of a three-dimensional solid modeling software used CATIA, as shownThree: Kinematics simulation of the stepped mechanismThe kinematics simulation of the stepped mechanism contains two main parts on the kinematics analysis and dynamic analysis.Kinematics analysis of the course before this paper analyzes the wheeled robot driven by differential movement principle Analysis of the two driving wheels, speed and time of the robot movement first, and then driving wheel speed of the two known cases, Polishing rate of mobile robots and the relationship between angular velocity with which to obtain the robot equation Which , s (h )= is the Jaeobian Matrix oftherobot.On this basis, we have received a small robot research parabolic trajectory equationThe dynamics research, we obtain the input voltage to the control of motor dynamics model Which, Four: Model and Simulation Analysis of the stepped mechanismOn the basis of the CATIA 3D modeling, the paper makes a model of kinematics analysis on ADMAS shown in figure 2. The simulation conditions imposed after the simulation results show: two wheel speed by controlling the operating agencies to coordinate changes Polishing small robot can be achieved in the small scope of the free surface curvature changes within the smooth movementFive: conclusionThrough the design of this stepped mechanism of Micro-polishing Robot, this paper presents the conclusions as follow:1 Based on a comparative analysis of a large number of stepped mechanism of mobile robot, decided that the tiny research subjects using a devices of three-wheel differential and additional auxiliary adsorption driven, and the theoretical analysis of its working principle, These free-form surface for other work in the mobile robot provides a basis and reference.2 In the design, the use of CATIA software powerful solid modeling functions to be conducted by a three-dimensional solid modeling. also a virtual model assembly, which greatly shorten the product development cycle. However, limited for the data conversion capabilities from CATIA to ADMAS, Simulation analysis of the key recommendations to the researchers use the software with the core of Parasolid in the modeling process3 With the simulation software for modeling agencies, the simulation results and expectations, test the feasibility of the design and additional details of this simulation model in the future structure of the micro-mechanical polishing process of the robot, a certain reference4 This paper describes the design of the stepped mechanism of the completion of the operating agencies, in reality with Micro-polishing Robot in demand..