Trajectory Planning And Winding Tension Of Small Motor Stator Winding Robot

The winding of the motor is an important component of energy conversion,and the performance of the motor is closely related to the quality of its winding.At present,most of the winding methods are mainly artificial winding,which result in problems such as winding efficiency and low winding quality,insufficient winding precision,insufficient tension,etc.It is easy to generate vibration and noise during use,and even burns the resistor,which has an adverse effect on the use of the motor.When the winding rotor is used to wind the stator winding of the motor,the winding efficiency and quality will be improved,but the correct planning of the winding trajectory and the control of the tension during the tensioning process are the guarantees for the successful winding of the coil.Therefore,in this paper,theoretical analysis,numerical simulation and experimental verification are combined to study the trajectory planning of the winding and feeding lines of the winding robot and the mechanical behavior of the enameled wire during the tensioning process.Firstly,according to the structure of the winding robot to analyze the process of the entire winding and according to the winding process to analyze the motion during the winding and feeding process.The corresponding link coordinate system and D-H parameters are listed for the determination of the robot link and the rotation angle.According to the coordinate transformation and the homogeneous matrix,the pose change of the winding robot is analyzed,and the forward and inverse kinematics equation of the robot is established and solved.Secondly,establish the end winding model in the winding process and analyze its winding defect.According to the matching relationship between the rotary motion and the feeding motion in the winding process,the trajectory equation of the end winding is established.Research on joint space trajectory planning and Cartesian space trajectory planning.According to the trajectory smoothness principle,use the fifth-order polynomial programming algorithm of joint space to plan the trajectory.Using the combination of the Robotics Toolbox function in MATLAB and the programmed code,obtain a smooth curve of each joint displacement,velocity,and acceleration with respect to time.Finally,on the basis of completing the winding,using the theory of thick-walled cylinder,based on the principle that the winding node is the maximum force point,establish the theoretical mechanical model of tension and derive the expressions of hoop stress and radial stress of the winding node.The finite element simulation is used to simulate the enameled wire under different tensions.Analyze the variation of radial stress and hoop stress under different tension layers,and the correctness of theory and simulation is verified by experiments.