Design And Research Of A Multi-model Remanufacturing Robot Based On Parallel Mechanism

Remanufacturing engineering is one of the best form of realization form of constructing circular economy and achieving social's sustainable development.In this paper,the remanufacturing of molds in remanufacturing technology is taken as the research object.Combining multi-mode parallel mechanisms with mold remanufacturing applications,a remanufacturing robot with two motion modes and taking parallel mechanism as the main structure is proposed,and the basic performance of the robot is studied.At first,Analyzing the product remanufacturing condition,and determining the structural design of the remanufacturing robot,a parallel mechanism with two kinds of motion modes is proposed,which is 3-UPUR/3-RPUR parallel mechanism.Analyzing the structural characteristics of the two parallel mechanisms respectively,and their degrees of freedom are counted.The concrete realization process of the two working modes conversion of the mechanism is described.Secondly,Based on the theory of spatial mechanism,the mathematical model of the main structure of remanufacturing robot is established.The inverse solution of position of the mechanism is solved by analytic method.The workspace of 3-UPUR mechanism and 3-RPUR mechanism were obtained by the inverse solution search method.Thirdly,the first order kinematic influence coefficient matrix of the mechanism was solved by the virtual mechanism method,then establishing the speed input and output equation of the mechanism,according to the 3-UPUR/3-RPUR parallel mechanism,the velocity change curve of the actuator was plotted when moving uniformly in different directions.Then the second order kinematic influence coefficient matrix was established.Finally,the dynamics of the mechanism was studied.The kinematics and dynamics of the parallel mechanism was simulated by using simulation software,and the correctness of theoretical analysis was verified.This paper provides theoretical basis for the application of this design in engineering practice,and lays a foundation for the applied research of parallel mechanism in remanufacturing technology.