Based On The Structural Design And Optimization Of The Wireless Charging Manipulator For Shared Electric Vehicles

With the vigorous promotion of electric vehicles in various countries in the world in recent years,higher and higher requirements have been placed on the automation and intelligentization of electric vehicle charging facilities.At present,the most popular charging methods are wired charging methods.This method has the defects of low degree of automatic operation,low charging efficiency,and poor safety.Therefore,the development of wireless-charging-based charging devices has undoubtedly broad application prospects.This paper aims at the development of a shared electric vehicle wireless charging robotic arm system,comprehensively considers the flexible charging action function of the robotic arm and the compact standby mechanism state,and realizes the design and optimization of the configuration and structure of the wireless charging robotic arm to meet the actual working conditions.Based on a full investigation of domestic and foreign automotive charging research,based on the design requirements and performance indicators of the wireless charging robotic arm,a modular configuration design of the joints of the robotic arm was carried out.In the optimization process,according to the minimum requirements of the standby space of the manipulator,an index about the extension-contraction ratio of the manipulator was proposed,and a multi-objective optimization function on the length of each part of the manipulator was constructed with this index as the optimization core.The structure was optimized to obtain the optimal solution of the structure size.Based on this,the specific structural design of each part of the wireless charging robotic arm is made,and it is optimized to meet the practical application requirements through engineering optimization.A 3D model of the optimized structure was established using Solid Works.The static analysis and modal analysis based on finite element simulation were carried out,and the static performance and dynamic stability characteristics of the manipulator were studied.In order to obtain the kinematic performance of the wireless charging robotic arm,a kinematic model based on D-H coordinates was established,and forward and inverse kinematics analysis was carried out on the model.Through MATLAB simulation calculation,the moving working space of the robot arm was obtained,and compared with the actual required working range,it was verified that the working space of the robot arm meets the design requirements.The motion working process of the wireless charging manipulator was analyzed,and the trajectory planning research was carried out,and the mathematical model of the corresponding trajectory and its key path points was established.The inverse kinematics of the path points was solved,and the theoretical calculated values of each joint at different path points were obtained,and the discrete values were fitted to the motion characteristic curve by interpolation.Sim-Mechanics-based simulation verification was performed using the motion characteristic curve as the input,and continuous trajectories and motion poses at different times were obtained.The trajectory planning and verification of the machined prototype was carried out,and the posture and the theoretical calculation results of the prototype at different positions were compared and analyzed.