Design And Analysis Of Robot Structure For Battery Swapping Of Electric Vehicle

At present, the world automobile industry is getting into transition period in alldirections and the development of electric vehicle are getting faster and faster. Duringthis period, all-electric automobile, with its advantages of pollution-free, low noise, highefficiency of energy conversion and so on, has became the main development directionof electric vehicle of our country. With the development of new energy vehic les, allkinds of all-electric automobile and a lot of equipment for battery charging or batteryswapping are put into service in some big and medium-sized cities. However, not mattercharge mode or change mode, there exist some bottleneck technique which hinder thedevelopment and popularization of new energy vehicle. So, in this paper, comparativelyperfect battery swapping robot, which solve the main problem of inefficientperformance, are designed.In this paper, the author introduces parallel robots into the new field of batteryswapping, where they are used to complete the process of replacing batteries of electricvehicle, that is to say, designing the battery swapping robot based on parallel structureto replace the traditional scissors elevating platforms. The reason for that is that thetraditional serial mechanism, in the premise of guarantee high precision, almost cannotafford such a big load of electric automobile battery. However, the parallel structure,with the advantages of high-precision and high bearing capacity, can be suitable for theoccasion perfectly and innovatively.According to the actual application background, the author selects a kind oflower-mobility structure—the3-PRS parallel structure, which undergo one translationaldegree of freedom (DOF) and two rotation DOFs, and besides, in the z axis directionthere is great stroke. All these kinematics properties satisfy the needs of workingprocess. However this configuration has its limit—parasitic motion, which should bemanaged to reduce or avoid although it is quite small, especially in high precisionoccasions. The author carries on the thorough research to solve this problem andoptimize it to minimum, which eliminates the negative impact of parasitic motion.Besides, three-dimensional geometric model of the mechanism, inverse kinematicsmodel and dynamics model based on Newton-Euler equation are presented in this paper.Furthermore, software simulation is used to verify the correctness of the modelsmentioned above. All the research above lays a theoretical foundation for the follow-upwork of the project.