Design And Analysis Of Edge Cutting Robot For Main Beam Of Wind Turbine Blade

With the improvement of global environmental protection requirements and domestic demand for product manufacturing efficiency,cost and quality,the cutting operation of wind turbine blade main girder based on manual processing can no longer meet the above requirements,and the dust generated during the processing process endangers the health of workers.In view of the above problems,based on the actual production and the research status at home and abroad,this dissertation proposes a scheme of cutting robot for wind turbine blade main beam,and designs and experiments.Firstly,Solidworks software is used to design the trimming robot,and the scissors lifting device,ball screw and its supporting motor are selected and checked.Secondly,the kinematics model of the trimming robot is established by using the improved D-H method,and the forward and inverse kinematics solutions are obtained.Then the robot toolbox in Matlab is used to check and verify,and the trajectory planning is carried out by matlab.The motion curve of each joint is obtained,and the working space of the main beam trimming robot is obtained by Monte Carlo method.According to the coordinate system established by the improved D-H method,the Lagrange method is used to establish the dynamic theoretical model of the robot.The force and torque of the main components are analyzed by Adams software,and the selection is analyzed and verified according to the working requirements.Thirdly,the workbench module in Ansys software is used to perform finite element static simulation on the whole of the main beam trimming robot,the scissor lifting device and the fine-tuning telescopic part to verify the rationality of the component design and selection.The modal analysis of the fine-tuning telescopic part analyzes the possibility of resonance.Fourthly,the control system of the trimming robot is simulated and analyzed.The working mode of the trimming robot is designed.Select and design the main controller,sensors and other components;the control design and simulation of the robot are carried out by using the method of master-slave control and fuzzy PID.Finally,the prototype motion and cutting experiments were carried out,and the stability of the mechanism was judged by analyzing the running speed in the trimming process.According to the experimental cutting results and process requirements,the accuracy of the mechanism is determined.