摘要
为了实现动力电池壳冲压生产线的自动化生产,在多工位拉伸压力机的基础上设计了送料机械手的机械结构,该机械手采用桁架式结构,通过X、Y、Z这3个方向的自由度上的直线运动模块来实现夹紧-张开、升举-下降和移送-回退3个动作,规划了机械手的运动周期,并在正弦速度规划算法的基础上设计了一种加加速度连续的4阶S型曲线速度控制算法,避免了机械手在运动中发生过大冲击。最终建立了机械手刚柔耦合动力学模型,通过对机械手刚柔耦合运动特性分析,研究了速度优化算法对机械手运动精度的影响,研究结果表明,在速度优化算法控制下,运动振幅明显减小,满足设计要求。
In order to realize the automatic production of power battery shell stamping production line,the mechanical structure of feeding manipulator was designed on the basis of multi-station stretching press,which adept a truss structure to realize the three movements of clamping-opening,lifting-falling and transferring-returning by the linear motion module in three degrees of freedom of X,Y and Z directions,and the motion cycle of manipulator was planned.Then,based on the sinusoidal velocity planning algorithm,a four-order S-shaped curve speed control algorithm with continuous jerk was designed to avoid the excessive impact of manipulator in motion.Finally,the rigid-flexible coupling dynamic model of manipulator was established,and the influence of speed optimization algorithm on the motion accuracy of manipulator was researched by analyzing the rigid-flexible coupling motion characteristics of manipulator.The research results show that under the control of speed optimization algorithm,the amplitude of motion is obviously reduced,which meets the design requirements.
作者
常孝聪
曹春平
Chang Xiaocong;Cao Chunping(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《锻压技术》
CAS
CSCD
北大核心
2024年第3期170-177,共8页
Forging & Stamping Technology
基金
江苏省科技成果转化专项资金(BA2021067)。
关键词
动力电池壳
多工位送料机械手
桁架式结构
速度控制算法
刚柔耦合
power battery shell
multi-station feeding manipulator
truss structure
speed control algorithm
rigid-flexible coupling