Research On Key Technologies Of Electric Vehicle Automatic Charging Manipulator

With the spreading and popularizing of electric vehicles,the demand for charging piles is gradually increasing.However,owing to its low automation,the charging mainly depends on manual work,which fails to meet the increasing demand for charging electric vehicles.Therefore,it is imminent to realize the automatic charging of electric vehicles.This paper presents a scheme of the automatic charging manipulator by applying manipulator technology and visual location technology to the automatic charging of electric vehicles.This article first based on the requirements of the automatic charging function of electric vehicles,the 5R joint automatic charging manipulator is established;the hardware and software design of automatic charging service is completed by using Ardunio as the controller.A complete scheme of the automatic charging manipulator is constructed by selecting the eye-in-hand system as the visual location scheme.Then according to the actual characteristics of the car charging port and binocular stereo vision theory,the three-dimensional localization of vehicle charging port is finished and a modified measurement algorithm for car charging port pose is put forward.a binocular positioning test system was built,and the vehicle charging port positioning and attitude measurement experiments were performed,which proved the effectiveness and accuracy of the binocular positioning algorithm.Then,the kinematics model of the manipulator is established,the forward and inverse kinematics of the manipulator is analyzed according to the D-H method,the trajectory planning algorithm of the automatic charging process of the manipulator is studied.The kinematics analysis of the manipulator and the verification of the trajectory planning algorithm are carried out by using ADAMS simulation software,and the working space of the manipulator providing charging service is analyzed by using Monte Carlo method.Finally,according to the design scheme of the automatic charging manipulator,the physical prototype model of the automatic charging manipulator is built,and the simulation socking test of the manipulator is carried out.The change of the angular velocity of each joint in the movement process is detected by the sensor,and the simulation socking results are analyzed to verify the feasibility of the scheme.