| When cleaning waste particles in narrow areas at the bottom of chemical dissolving pipeline,due to problems such as large depth and narrow space,the existing cleaning devices will encounter difficulties such as inconvenience in movement and limited moving space,which makes it difficult to achieve efficient and reliable automatic cleaning.To solve this problem,a rope-driven parallel cleaning robot is designed in this paper,and relevant theoretical research,simulation and experimental work are carried out.Based on the advantages of parallel robot and on the basis of parallel mechanism,a parallel mechanism driven by rope is designed in this paper,which combines link parallel mechanism with rope-driven mechanism and constitutes the main structure of the robot.The degree of freedom calculation and workspace analysis are carried out to ensure that it meets the requirements of motion characteristics,and then the clean suction head of the robot is designed.Finally,a complete virtual prototype model of the robot is designed by using Solid Works software.After simplifying the robot model to some extent,the ideal analysis model of parallel mechanism is established,and then the forward and reverse kinematics analysis of parallel mechanism is carried out respectively,and its correctness is verified by an example using MATLAB software.Dynamic analysis of the parallel mechanism is carried out,and the multibody dynamic simulation of the parallel mechanism is carried out by using ADAMS software.Then the kinematic curve and tension curve of the rope and the motion curve of the end effector of the mechanism are obtained under the input condition of the rope displacement,which verifies the kinematic performance of the mechanism.The finite element simulation analysis of the link parallel mechanism of the robot is carried out by using ANSYS software,which verifies that the structure meets the rigidity and strength requirements.Then the parallel mechanism is optimized to meet the requirements of lightweight according to the simulation results.The suction process of the robot cleaning suction head is simulated with Fluent-EDEM joint simulation method by using Fluent and EDEM software.The airflow speed,particle movement speed and the change of particles with time when the cleaning suction head absorbs particles are obtained.Based on this,the suction characteristics of the suction head are evaluated.On this basis,the structure of the suction head is optimized,and then the suction head is simulated again with the same method.Compare the suction performance of the suction head before and after optimization to verify the optimization effect.Finally,build an experimental platform to verify the actual cleaning effect of the suction head,and compare with the simulation results. |
