Design And Research Of GDL Manipulator In MEA Producing Equipment

Energy crisis is becoming serious in modern society. In this background, fuel cell as anew generation power cell has a bright future. But, the producing process of fuel cell is hard,especially for the key component called MEA, Membrane Electrode Assembly. MEA isalways produced by handwork or semi-automatic machine. Low rate of finished productsseriously restricts the development of fuel cell. This project aims to solve the difficultproblem of MEA’s automatic producing.This thesis focuses on the design and research of Gas Diffusion Layer (GDL)manipulator in MEA producing equipment. Overall plan and detailed design of GDLmanipulator are finished. Main contents are as follows:1. Following requirements of GDL producing equipment, comparing the existing industrialrobots, a5DOF GDL manipulator with high integrity and pertinence is finished.Meanwhile, its kinematic analysis is completed. Positive and negative solutions areobtained.2. For controlling the space of GDL manipulator, and ensuring equipment’s integral effect, itis designed as a cantilever structure. Cantilever connect part bears the main load. Basedon machinability, its topological optimization and model analysis are accomplished andthe best structure is obtained, which assures the stiffness of manipulator’s body.3. A special design of GDL manipulator is the indirect-driven angle adjustment mechanism.Depending on real working conditions,D k θ0error model and an error compensationmethod based on equivalent radius are proposed. Single measurement could finish thecompensation. This new method has direct geometry and engineering significance.4. Multi-location conditions and frequent start/stop actions require good control system.Analyzing real working conditions, and clearing manipulator’s operating process, thecontrol system design is completed.The research results of this thesis ascertain the accomplishment of MEA project, andprovide references for relative problems about small, integrated, multi-DOF robot hand either.