Mechanism Design And Optimization For Large Projectile Pose Transformation

With the advancement of industrial production,manufacturing and assembly of the emerging technology drives the bearing platform towards high precision,big load,many degrees of freedom,modular and flexible,digital direction development,but the current widely used adjustable posture platform are widespread long time,low level of automation,cost more obvious problems such as human resources,this article in view of the assembly process space type of projectile,This device has six degrees of freedom in six directions.Three degrees of freedom of position adjustment are controlled by omnidirectional moving module,and three degrees of attitude adjustment are controlled by attitude adjustment module,so as to realize attitude adjustment and docking process of large missile body.Based on the working characteristics and difficulties in the assembly process of large projectile,this paper analyzes the needs according to the working characteristics of the actual assembly process of the factory,obtains the technical requirements and parameter indexes of the attitude adjustment docking equipment,designs and calculates the overall structure of the attitude adjustment docking equipment according to the design requirements of the attitude adjustment docking equipment,and determines the structure and composition of each executive part of the attitude adjustment docking equipment,Completed the design of each mechanism of the omnidirectional movement module of the attitude adjustment docking equipment,completed the design of the scissor lifting mechanism,spiral pitching mechanism and meshing side rolling mechanism of the attitude adjustment module,and carried out the structural design of each mechanism of the attitude adjustment module;Through analysis and calculation,the operation performance,bearing performance and driving performance of the omnidirectional moving module are analyzed.The lifting,pitching and rolling performance of the scissor lifting mechanism,spiral pitching mechanism and meshing roll mechanism of the attitude adjustment module are analyzed respectively.Finally,the correctness of the previous theoretical analysis is verified by simulation;Under the condition of ensuring the strength and stiffness of the equipment,the topology optimization of the large and important components of the equipment omni-directional movement module and attitude adjustment module based on the variable density method is carried out to realize the lightweight design,reduce energy consumption and improve the dynamic characteristics of the equipment.Finally,the experimental verification is carried out from six aspects of the motion performance,driving performance,bearing performance,lifting attitude adjustment performance,pitch attitude adjustment performance and roll attitude adjustment performance of the overall prototype,and the matching between the comparison test and the design index is analyzed.The results show that the designed large missile attitude adjustment butt joint equipment can realize the high-efficiency attitude adjustment butt joint process of the missile,It provides theoretical and practical support for the development of modern industrial attitude adjustment and docking equipment.