Thin-walled Fragile Parts Internal Support Type Work Manipulator Configuration Innovation And Flexibility Ring Structure Optimization

The use of flexible manipulators in modern industrial production lines is increasingly widespread,and it is important to carry out research on the configuration design of the end-effector of the manipulator system to improve the performance of the manipulator system.In order to meet the requirements of internal support loading operation for thin-walled fragile parts of different shapes,this paper develops the innovative research on the configuration of internal support manipulator for thin-walled fragile parts,which mainly includes: curvature adjustable three-jaw and four-jaw manipulator structure configuration design and contact stress analysis,and the research on the stiffness deformation law of the manipulator system passive adjusting flexure ring structure.In order to realize the gripping of cylindrical inner wall workpieces with different radii,this paper designs a curvature adjustable inner support type operating three-jaw mechanical finger structure.In order to maximize the gripping area and minimize the local contact stress,the optimal position distribution of the interpolation nodes is determined by using equal and Chebyshev interpolation,respectively,and the elastic finger finger belly deflection curve equation,fitting error equation,contact simulation model and damage stress equation based on the two interpolation theories are established.The maximum positive contact stresses were257.99 MPa and 220.6 MPa for the equipartite interpolation model and Chebyshev interpolation model,respectively,under the application of 30 N internal bracing force.In order to realize the gripping of shaped inner contour workpieces,a curvature adjustable four-jaw manipulator structure is proposed in this paper.To improve the contact state of the manipulator,the elliptical inner-wall workpiece is taken as the gripping object,and the optimal position distribution of the interpolation nodes is determined by equal and Chebyshev interpolation,respectively,and the long and short axis elastic finger finger belly deflection curve equations,fitting error equations and contact simulation models based on the two interpolation theories are established.The maximum positive contact stresses of the equipartite interpolation model and Chebyshev interpolation model were 149.63 MPa and88.259 MPa,respectively,under the application of 30 N internal bracing force.In order to make the manipulator system have certain adaptive adjustment capability,a flexible ring structure with passive flexibility characteristics is developed in this paper.In order to study the stiffness deformation law of the flexible ring,a six-degree-of-freedom response model of the flexible ring is established,the concept of "black box" is introduced,a sample library of flexible ring deformation based on Creo parametric modeling method is built,a prediction model of flexible ring deformation based on BP neural network is established,and the designed flexible ring is verified under deformation conditions by simulation.The model is validated by simulation.In the comparison and validation database,the relative error between the prediction results of the model and the simulation results is within 5%.To verify the feasibility of the theoretical design,curvature adjustable three-jaw and four-jaw manipulator prototypes were fabricated and actual gripping experiments were conducted.In order to achieve stable and controllable end gripping force,MHS series parallel open/close type equal pressure cylinder was used as the manipulator driver.The whole gripping operation was stable and smooth,which proved the feasibility of the curvature adjustable gripper structure.The curvature adjustable flexible manipulator structure proposed in this paper provides a new idea for the flexible design of rigid gripping manipulator,and provides a useful exploration and theoretical practice supplement for using the manipulator to grip thin-walled fragile workpieces.