Virtual Prototype Design And Motion Simulation Of Parallel Robot

The parallel robot introduced in this paper is 1PT+3TPS type parallel posture adjusting mechanism.It is a kind of parallel robot applied in the field of Aeronautical assembly machine tool equipment industry,aiming at the technological requirement of normal pressing of curved surface separators in the field of Aeronautical assembly.The content involves the curved surface products and separators with 1PT+3TPS parallel robot as the core technology.Assembly equipment design and motion simulation,including mechanical structure design,spatial pose algorithm,motion position simulation,automatic control design.In the assembly of aviation industry,bolt connection is often used to connect aircraft curved surface products with the skeleton.In order to ensure that the curved surface parts are not damaged during the bolt connection process,thousands of spacers are often embedded in the products.Because of the high requirement of aviation assembly accuracy,there is only a small gap between spacers and bolts.In order to ensure the location accuracy,tradition is adopted.There are many problems in traditional assembly methods of koji.1.The large number of nests embedded in curved surface products makes manual assembly inefficient and labor intensive;2.Some products are composite materials.Carbon fiber dust produced by manual hole enlargement will cause untreatable harm to workers' bodies;3.Handwork.When assembling,it is impossible to ensure the stability of the pressure and whether the normal pressure is applied,that is to say,it is easy to cause high scrap rate of assembly parts.In view of the existing problems,this paper designs a set of curved surface products and spacer assembly equipment with 1PT+3TPS parallel robot as the core technology.The equipment mainly includes parallel attitude adjustment mechanism,bottom hole center position and normal vector detection device,automatic pressing equipment.According to the requirements of product assembly technology,this paper analyses the design requirements of parallel robot mechanism,bottom hole center position and normal vector detection device,automatic pressing equipment,completes the detailed design of its mechanical structure,studies the related space coordinate position and pose algorithm,and carries out static analysis of the main bearing parts.The model is assembled and the motion position of the whole equipment is simulated to realize the functions of automatic measurement of the center position of the bottom hole,automatic adjustment of product normal direction and automatic pressing of the product.Through the research content described in this paper,the accuracy of the spatial position algorithm is verified by the position simulation of the three-dimensional model,and the rationality of the mechanical structure is verified by the related experiments Finally,the paper draws the conclusion that the overall scheme is feasible.