| With the rapid growth of car ownership in China,the demand for car wheels is increasing.However,there are still many problems need to be solved in realizing automation process of deburring aluminum alloy wheel hubs.According to the practical problems in the production process of aluminum alloy wheel hubs,a six-degree-of-freedom robot has been designed to replace the manual operation in deburring aluminum alloy wheel hubs.The mechanism prototype of the 6-dof robot is a 6-PSS parallel mechanism,mainly composed of static platform,PSS kinematic chains and moving platform.The robot has the advantages of fast moving speed,strong structural rigidity and has good manufacturability,which is able to remove the most burrs from aluminum alloy wheel hubs.Firstly,according to the dimension parameters of various wheel hubs,the design requirements and mechanism dimension parameters of the deburring robot for aluminum alloy wheel hubs have been preliminary established.Then,I have set up the coordinate system and deducted the inverse position equation of the mechanism,which lay the theoretical foundation for the work space analysis.MATLAB has been utilized to calculate the initial structural parameters of the different pose of the workspace and the influence factors that affected the size of working space have been analyzed.On the bases of the analysis results,the working space can have been optimized to meet the machining requirements of deburring aluminum alloy wheel hubs.Secondly,after selected the appropriate deburring machining spindle,the appropriate ball screw and servo motor have been selected through theoretical calculation.In addition,the error propagation models of the main parts have been established.The influence of the manufacturing or installation errors of different parts on the output pose of the moving platform under given conditions has been analyzed and the error sensitivity of each error term has been calculated.At last,Lagrange method has been utilized to deduce the dynamic equation of the 6-PSS robot,and the robot's velocity jacobian matrix has been obtained by using the vector product method.Then,kinematics and dynamic simulation have been carried out using Adams.A set of movement trajectory of moving platform to deburr the wheel hub has been designed.And the relationship curves between time and displacement,velocity,acceleration of each group of sliding pair have been obtained.On this basis,the forward kinematics simulation has been carried out,which lays the foundation for the further realization of the control of the 6-PSS hub deburring robot. |
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