Design And PID Control Simulation Of Parallel Two-degree-of-freedom Deburring Machine Of Round-link Chain

Round-link chains have very wide applications in many fields of engineering,and especially in some of the pillar industries related to the fate of the country play an irreplaceable important role.When the ring chain is in production,burrs will be formed at the weld seam,which will directly affect the working condition and service life of the chain,and therefore they must be removed.There are lots of defects in traditional round-link chain deburring process,such as low processing efficiency,unstable surface quality,low strength at the weld seam et al.So in this paper,theory and simulation researches have been executed about the deburring method and mechanism design,kinematics analysis and trajectory planning,control system stability,stab curve control and other aspects.Based on detailed analysis of the existing link straight thermal deburring process and structure form of the deburring machine,a project about direct driving pump controlled electric control hydraulic servo system of two degree of freedom parallel drum to pierce through the control was presented this paper.A formation of a drum will be formed through controlling the trajectory of the tool in the welding position.The core parameters were calculated,and the development of the mechanism was realized.The kinematic model of the mechanism was established,and the workspace of the model was analyzed.The kinematic positive and inverse solutions of the mechanism were solved by the analytic method.The two degree of freedom parallel burr removing mechanism were analyzed.The trajectory of the bayonet based on the process of parallel two-degree-of-freedom deburring mechanism controlled by direct drive pump were analyzed,according to the needs of processing to pierce the ring chain.The trajectory planning was performed on the endof the mechanism,and the position and velocity curve of the end effector of the continuous smoothing mechanism were obtained.Through the solution of the two hydraulic cylinders,the curve of the elongation of the thixiang hydraulic cylinder and the infeed cylinder was obtained,and the velocity curve was obtainedThe modeling methods commonly used in hydraulic system were discussed and analyzed.The hydraulic system was modeled by the method of block modeling,and the differential equations of each module were established.Finally,the transfer function of the direct drive pump control system was established by connecting the modules together.Then the stability and dynamic characteristics of the direct drive pump electro-hydraulic servo system were simulated and analyzed.A control simulation model of direct-drive pump electro-hydraulic servo parallel parallel two-degree-of-freedom deburring mechanism was constructed Based on the Matlab/simulink simulation platform,and the basic principle of PID control and the setting of control parameters were briefly introduced.The response and error of the step signal of the mechanism were analyzed and simulated.The response curves of the control system under different PID control parameters were compared,and a set of more suitable PID parameters were obtained.Finally,the whole control system model was simulated,The simulation results and the theoretical trajectory were compared and analyzed,which proved that the parallel two-degree-of-freedom deburring scheme and the feasibility of the mechanism,which lay the foundation for the follow-up research and actual production.