Research And Design Of Continuum Robot For Grinding Thin Wall Parts

Large thin-walled parts are widely used in aerospace,automobile,rail transit and other industries,but their shape is complex,relative stiffness is low,and grinding methods are limited.Manual grinding labor intensity,high cost,a lot of dust in the workshop harm the health of workers.The impact force produced by grinding of traditional rigid mechanical arm is easy to damage its components and reduce the surface quality of thin-walled parts,so a new type of robot is urgently needed to solve the above problems.In view of the advantages and characteristics of continuum robot,such as good adaptability,flexibility and man-machine safety,this paper aims to design a continuum robot overall structure suitable for grinding thin-walled parts,and carry out in-depth theoretical analysis and experimental research on it.The main research contents are as follows:Firstly,three kinds of continuous robots with different segments are designed according to the technical indicators.Then,combining the unstructured working environment and the structural characteristics of the three kinds of robots,two different driving structure design schemes are proposed,and the kinematic analysis of single segment and multi-segment robots is completed.Secondly,considering the structural characteristics of the continuum robot studied in this paper,the interference problem is more likely to occur with ropes and flexible supporting skeleton,and the maximum bending Angle of three kinds of robots without interference is analyzed.On this basis,aiming at the two performance indicators of workspace and dexterity,the kinematic performance of the first,second and third section robots is analyzed,and a more appropriate robot structure is comprehensively selected and optimized,so that the designed robot kinematic performance can be optimized.Thirdly,the static model and stiffness model of the continuum robot are established.Since the static model and stiffness model are closely related to the kinematic model,Adams is used to simulate and verify the kinematic model of the continuum robot.Then combined with the specific grinding contact pressure in the reference,Ansys was used to verify the correctness of the stiffness model.Finally,according to the design scheme and theoretical analysis,the construction of the experimental prototype is completed,and the kinematic model of the robot joint module is verified experimentally.The stiffness of the robot is measured by the force measuring system,and the main causes of errors are analyzed.