Theoretical Analysis And Simulation Verification Of Heavy Load Fine Tuning Equipment Based On Hybrid Robot

In recent years,with the rapid development of China’s aerospace industry,the trend of large-scale,integrated and diversified development of new spacecraft has brought new challenges to the general assembly development task.In order to solve the technical problems of complex process,high precision and uncontrollable risk in the general assembly task,aiming at the requirements of large-scale,high-precision and integrated assembly of key components in large-scale aerospace equipment,a kind of heavy-duty fine-tuning equipment based on hybrid robot is proposed,which integrates macro motion,micro motion,transfer and parking functions.In this paper,the configuration design analysis,kinematics analysis,dynamics analysis and simulation verification of the heavy-duty fine-tuning equipment are carried out.The research contents mainly focus on the following four aspects:Firstly,according to the requirements of working conditions,the configuration of heavy load fine adjustment equipment is designed.Based on the idea of modular design,the system design scheme of macro micro dual motion structure is proposed.The macro motion attitude adjustment module with "two rotation and one movement" degree of freedom and the micro motion parallel attitude adjustment module with "three rotation and three movement" degree of freedom are reasonably integrated.In addition,an innovative driving branch of parallel micro motion attitude control is proposed.The branch adopts two-stage force increasing mechanism,and uses lead screw drive and shaft force increasing mechanism to reduce the size of space structure and ensure the space of attitude adjustment and bearing capacity.Secondly,the kinematics analysis of heavy load fine adjustment equipment is carried out.Based on the geometric characteristics of the platform,the constraint equation is established.According to the actual attitude adjustment process of the workpiece,the positive and negative solutions of the position of the heavy-duty fine adjustment equipment are solved.A method of solving the forward position solution of parallel mechanism by numerical method combined with neural network is proposed.The workspace of fine tuning equipment is determined according to the constraint conditions and the inverse position solution.The kinematics influence coefficient matrix of heavy load fine adjustment equipment is obtained by derivative method,and the velocity and acceleration formulas of two modules of heavy load fine adjustment equipment are derived.Then,the dynamic model of heavy load fine adjustment equipment is established.The kinetic energy and potential energy of each part of the heavy load fine adjustment equipment are analyzed respectively,and the Lagrange dynamic equation of the system is established.The driving force of eight moving driving pairs and the driving torque of one rotating driving pair in the hybrid mechanism are analyzed.Finally,the dynamic simulation model of heavy load fine adjustment equipment is established to verify the correctness of the theoretical calculation of kinematics and dynamics.The simulation curves of kinematics and dynamics of each mechanism of heavy load fine adjustment equipment are measured and compared with the theoretical calculation curves,which proves the correctness of the theoretical analysis of kinematics and dynamics of heavy load fine adjustment equipment.Then,the MCD simulation platform is used to co simulate the heavy-duty fine-tuning equipment,the virtual prototype of the fine-tuning mechanism is established,the working path is drawn,and the functional design of the heavyduty fine-tuning mechanism is proved.