Design Simulation And Trajectory Planning Of Ee25 Transformer Coiling Robot

High-frequency transformer's operating frequency is more than 10 kHz,and it's widely used in our daily life.The high-frequency transformer is indispensable among the LED lighting and the other industry which is important to the national economy and the people's livelihood.However,at present,there are some problems in the actual production of our coiling product company:1)Most of the coiling equipment are the semi-automated equipment which can't realize full automation of coiling operations.2)The equipment that can fully complete the full automation coiling operations which has poor flexibility,and the price is too expensive.3)At present,the semi-automatic coiling machine can only complete the full circle of coiling.The tie motion of the wire in the transformer pins cannot be completed and requires manual tying.So this process becomes a bottleneck.This paper presents a coiling assembly robot which is designed to solve the problems above.lt possesses efficiency and automation with the auxiliary coiling equipment to solve the urgent problem in the actual production of EE25 high frequency transformer.The paper combines with the actual production situation in the company,analyzes the functional requirements of the robot,designs the mechanical structure of high frequency transformer coiling robot,determines the robot type and the concrete transmission plan,completes the detailed design of the joints of the robot and the selection of main parts.Also,the paper establishes the 3D model of the robot.Research on kinematics,the paper uses the D-H four parameters method to develope the forward and inverse kinematics of the coiling robot.Besides,it simulates and verificates the kinematics.At the same time,it determines the working space of the robot with the Robotics Toolbox based on MATLAB.Considering of the winding action and actual production process,the paper uses the method of exact decomposition based on unit to plan the motion and the trajectory for the coiling robot on the actual winding motion.In addition,it pursues the dynamically simulation of the robot,and the result shows that the robot can finish the task with the stable operation in the planned production time.Finally,the paper completes the mechanical performance analysis of the coiling robot,finishes the static analysis and the modal analysis of the robot's major parts,which including the drive shaft of the robot joint I,the drive shaft of the robot joint ?,upper arms,lower arms and the assemble of the coiling robot.The result indicates that the mechanical performance of the robot up to the theoretical and actual production requirements.