Structure Design And Analysis Of Mechanical Characteristics Of A Charging Robot

Since the people care more and more about the energetic crisis and environmental contaminate.The combustion motor has become a serious social object for people to criticize due to its low efficiency and air pollution.Electric power driven Ground transportation is of more and more popularity in our daily lives because of its competitive in various aspects,but this electric driven transportation system also have the disadvantages,such as the Lack of durability.So the provision of energy is a serious technical problem for us to solve.In this context,a new kind of rapid charging robot whose mechanical structure should have bigger working area,higher accuracy,greater bearing capacity,smaller size and lighter weight has to be researched to solve the former mentioned problems.This research has very important significance.This project comes from the own research task whose name is Rapid charging Robot for e-Bus.This master thesis summarize and focus on the existing designs and bring up a new robotic design which satisfy all the requirements that we need,that is first used for the research work in this article.Then the analysis of the robotic structure,the mathematical modeling of the kinematic model and the mathematical modeling of the dynamic model,the the mathematical modeling of the accuracy model and the design and build of the control model will be finished here.The overall contents of my thesis are as followed:1.Bring out some traditional designs of the subsystems of the charging robot.Point out separately the characteristics of the designs of every module in the robot.Make comparison of the advantages and disadvantages of these different module designs.They are the basic components of the creation of the the robotic design.The design that we choose use pull-push-rod-disk and the front part of it is multi-parellel bars mechanism.Make analysis of the characteristics of the mechanism of this designs,try to optimize the overall design and improve the performance of the robotic design.2.Make mathematical modeling and analysis of the kinematic and dynamic model of the core mechanism of the chosen design.First,make analysis of the kinematic model of the core of the robotic to understand the theory of the inner mechanical operation process.And this make contributions to form the later analysis of the dynamic model which is researched with the Lagrange Equation.Later use the simulation tovalidate the kinematic model and the dynamic model on the software platform.3.Make mathematical analysis of the accuracy model of the chosen mechanism.Research the source of the errors hidden in the mechanisms of the design.Use the former standard kinematic model as the basis to construct the accuracy model of the design through the multi-body system kinematics.To improve the locating accuracy of the chosen robotic design,especially some important parts must be research specially.4.Setup the control system of the new posture control system.Bring out the overall software and hardware structure of the control system which is designed under the rule of stratification and modularization.Make instructions of the hardware and the software.Based on the former dynamic model,calculate the control model of the posture control system.Consider the accuracy factor and the nonlinear and strong coupling factor of the core mechanical.Use the BP neural net and PID decoupling controller to finish the task of controlling the system.5.Make tests for the new designed charging robot.In this phase will the overall tests of the charging robot be accomplished.The main content include the test of the2-DOF motion of the system,the accuracy test of the system output and the test of the mechanism's range of working space.The performance of the designed system will be tested in all fields.At last the original index of performance of the system are reached and our design requirements will be satisfied.