Design And Analysis Of Robot For Battery Swapping Of Electric Vehicle Based On Parallel Mechanism

With the rapid development of automotive industry, two problems increasingly serious nowadays, one of which is the environmental pollut ion problem caused by automobile exhaust emissions. The other is the energy problem resulted from mass consumptions of traditional oil resources. Confronted with above severe challenges, the prospect of electric vehicles is widely appreciated for their environmental protection and energy-efficiency.It is a critical problem that how the robot replaces vehicle batteries precisely with no shock to vehic les and guarantees the safety. The batteries of electric cars are generally installed among four wheels parallelly. However, there probably exist a small angle between battery and the working platform since different automobile tire pressures and unequal vehicle loads in car. The space posit ion and posture of working platform should be adjusted in parallel to the battery planes to ensure no shock to effect vehicles when the platform is connected with batteries.As requirments of practical application, in this thesis a novel work platform is proposed based on parallel mechanism. It is able to adjust the posture of working platform in space p recisely to reach the effect of docking with the vehicle battery planes in paralle l. The principal part of the platform is composed of 3-PSS/S parallel mechanis m with three degrees of freedom. The parallel mechanis m can achieve three rotational degrees of freedom around the spatial coordinate system and adjust space attitudes precisely.This thesis analyzes inverse kinematics of the 3-PSS/S paralle l mechanism, including the inverse position and the velocity Jacobian matrix solutions. Then the analysis and optimization workplace of manipulator are executed with the commercial mathematical software MATLAB to meet the working requirements. At the same time, dimension synthesis problem is solved with using the conclusion of work space analysis and the organization flexibility of the 3-PSS/S mechanism. O n the basis of theoretical analysis, three-dimensional model is established with the aid of SO LIDWO RKS. Finally, the whole machine precision problem is analyzed, and error compensation of 3-PSS/S are completed with using the work space error compensation method.