The Design,Modeling And Control Of A New Type Of Automated Tape Winding Platform

With the development of times,the wiring harness is more widely used in modern industry.Tape winding,which is an important step of wiring harness production,affects the safety of wire harness use directly.However,tape winding is manual work at present,which costs higher,inefficient and unable to meet the requirements of high-precision about wire harness bandaging.In view of this situation,the paper focused on the multi-degree of freedom control problem of wiring harness production with the theory of rigid body kinematics,fuzzy control and coordinated control method.The paper processed a nonlinear mathematical model based on the theory of coordinated control method and a new type of automatic winding platform,solving the industrial technical problems of wiring harness manually in the automotive wiring harness industry.The mainly aspects reflected as following:1)To the process of taping winding manually in the wiring harness production,using rigid body kinematics and the geometrical characteristics of the wire and tape to establish the two degrees freedom motion model of the harness dressing process and put forward a kind of multi-freedom coordination control problem in the tape winding and pointed out the direction of how to realize tape winding production automatically.2)The controllers of linear movement of the wire harness wrapping and rotational movement of taping have been designed after decoupling the tape winding and the linear movement is carried out in accordance with the set motion control.The decoupling control of the research is focused on the control of rotary motion with the fuzzy PI control method based on self-adjusting factor so as to ensure the bandage rotary motion process get the ability of both fast transient response and steady state error minimization.3)Making the coordinated control of two degrees of freedom taping movement with the nonlinear coupling law of rotary motion and linear motion and solving the practical control problems of high precision,good quality consistency in the wire harness production process.4)Finally,an Automatic winding platform was invented based the proposed theory and a contrast test of tape winding was carried out between the Machines and artificial under the given dressing index.The results show that the tape winding with machine has higher accuracy and better consistency.