Design And Performance Analysis Of Foldable Grinding Robot Based On Truss Structure

The grinding operation of large castings is a technical problem widely involved in various fields(such as ships,nuclear power,metallurgy).Limited by working conditions,the current grinding operation mainly focuses on workers,with low efficiency and a large number of factors threatening human health.In this paper,based on the truss structure,a folding type grinding robot was designed for large castings grinding,and analyzed from the aspects of kinematics,dynamics,adaptive grinding and trajectory optimization.The main research contents of this paper are as follows:(1)Structure design of folding truss grinding robot.According to the design requirements of the grinding robot,the overall function of the grinding robot is decomposed at multiple levels.The functional principle method is used to design the specific structural scheme of each functional module.Finally,the reasonable arrangement of each functional module forms the overall structure of the grinding robot.(2)Kinematics analysis of folding truss grinding robot.Based on the D-H method,the forward and inverse kinematics analysis of the equivalent series mechanism was carried out,and the workspace of the hybrid mechanism was analyzed by numerical method.The vector method is used to analyze the positive and negative solution,velocity and acceleration of the parallel grinding head.The working space and singular space are analyzed.Finally,the kinematics of parallel grinding head is verified by simulation software.(3)Dynamics analysis of folding truss grinding robot.Based on the Lagrange method,the dynamics model of the series manipulator was established,and the driving force and driving distance of the joint were solved.The dynamic model of parallel grinding head was established based on the virtual work principle method,and the driving force of each branch was solved.Finally,simulation software is used to verify the two dynamic models.(4)Study on adaptive and comprehensive trajectory optimization of foldable truss grinding robot.Based on the dynamics of the grinding robot,the theoretical relationship between the end load of the parallel grinding head and the adaptive adjustment of the driving joint was studied,and the overall load state of the pneumatic damping system was effectively optimized.Finally,the joint power consumption and the overall power consumption of the robot under different trajectories are analyzed,and the rationality of the optimization equation is verified by numerical examples and simulation calculations.