Design Of Mobile Multi-Dimensional Vibration Stress Relief Robot

Vibration stress relief is an effective way to eliminate the residual stresses in cast and welded parts.The traditional method of vibration stress relief has high labor intensity and labor cost,and can not meet the requirements of the movable vibration excitation operation of large structural parts in the production process.Under the background of Made in China 2025,there is an urgent need to improve the industrial automation level and industrial production efficiency.Based on TRIZ theory and Topological Structure Theory of Parallel Mechanisms,a movable multi-dimensional vibration stress relief robot is designed in this paper.It can be used for one-dimensional or multi-dimensional vibration stress relief treatment for large structural parts.Based on TRIZ theory,innovative design of multi-dimensional VSR robot is carried out.The TRIZ theory is used to analyze the causality and contradiction of the existing VSR,and the conflicts and contradictions are clarified.The principle of separation is applied to the end-effector part of the robot.The flange at the end of the manipulator connects with vibration exciter through the method of space separation,so as to reduce the fatigue damage of the vibration exciter to the manipulator during the operation.According to the Topological Structure Theory of Parallel Mechanisms,a parallel bracket is designed on the multi-dimensional vibration stress relief robot to expand the working space and freedom of the robot arm.Through the combination of ADAMS kinematics analysis and mechanism topology structure theory analysis,the movement properties of parallel support in X,Y and Z directions are obtained.The structure shows that ADAMS kinematics analysis and mechanism topology structure theory analysis are consistent.With the help of ANSYS,the finite element analysis of the robot manipulator and other key components is carried out.Vibration damping device's first 6 modes and modes of the vibration are solved,the fatigue life of the manipulator and the stress and deformation cloud of the parallel support are obtained.The parallel support meets the design requirements.The workspace of the manipulator is analyzed and solved by using MATLAB.Taking the manipulator of multi-dimensional vibration stress relief robot as the research object,the kinematics model of the manipulator is established by using D-H parameter method.Solving the workspace of robot end-effector with Monte Carlo method,the space of point-cloud map is obtained,and the range of the exciter working space under the condition of the arm and the range of the known joint angle.By solving the inverse kinematics solution,It is concluded that the same attitude of the end-effector may correspond to the combination of eight joint angles.The path of the robot is planned.The map of the robot working environment is constructed by the grid method,and the path of the robot is planned by the ant colony algorithm.The simulation is carried out on the MATLAB platform to improve the working efficiency of the robot.