The Design And Research Of Composite Sewing Robot And The Unilateral Sewing Institution

As a brand new material with a high performance, composites have an increasingly wide application, and with the development of composite forming manufacturing technology, they have been used to manufacture the key components of mechanism, as a consequence, which proposes a higher demand for the performance of composites. Composite products manufactured by the traditional technique always have a weak interlaminar performance. When they suffer a external load, a interlaminar damage is inevitable, which leads to a serious reduction of the composite performance in damage resistance. So the unilateral fiber sewing technique can be used to sewing the composite products, it can lead to a prominent improvement of composite performance in fracture toughness and impact damage tolerance, further more, that technique possesses a much wider applicability, it can be used to sew the complex surface performs.Based on the demands of the mission, the main work is the design of the industrial manipulator and the unilateral sewing institution, the process is as follow:1. Based the reference and the research actuality, formulate the industrial robot design project and the physical dimension, then complete the selection of the server motors` types, build the 3D model of the robot in Pro/E finally;2. Execute the static analysis of upper and lower arms in ANSYS to gain the displacement nephogram and the stress nephogram;3. Based on the D-H method, build the robot`s kinematic model and solve the forward and inverse problems of the robot kinematics, then based on the kinematic result, get the movement space of the robots and use the projection to observe the hole and cavity in that movement space. Based on the DAlembert-Lagranges principle and Euler-Lagrange Equations, execute the static analysis and kinetic analysis of the robot, establish the equations of the robot`s joints driving torque.4. Execute the simulation of robot`s kinematics and kinetics, gain curves about the robot`s motion, and curves about the variation of the robot`s joints driving torque during the movement, which provides a way to observe the robot`s force condition and a theoretical basis of structure optimization.5. Based on the principle of unilateral sewing institution and its structural diagram, build its 3D model in Pro/E, then programme that institution`s motion to complete a whole sewing cycle, finally execute the simulation of the sewing institution`s movement, gain curves of every main part`s movement to verify the rationality of the structure design.