Design and motion analysis of a small motor stator multi-wire paralleled winding hybrid robot
<p>The working space of small motor stators is narrow, and most of them are manual winding. It is difficult to guarantee the uniform arrangement of enameled wires by multi-wire winding. To solve these problems, a three-phase parallel equivalent multi-wire winding robot is proposed to achieve l...
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| Autores principales: | , , , , |
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| Formato: | article |
| Lenguaje: | EN |
| Publicado: |
Copernicus Publications
2021
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| Materias: | |
| Acceso en línea: | https://doaj.org/article/533a6d682b9445039e786f9c6ac9506d |
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| Sumario: | <p>The working space of small motor stators is narrow, and
most of them are manual winding. It is difficult to guarantee the uniform
arrangement of enameled wires by multi-wire winding. To solve these
problems, a three-phase parallel equivalent multi-wire winding robot is
proposed to achieve large output torque of the motor. Firstly, according to
the equivalent model, the structure of the large arm, small arm and
manipulator is designed to determine the motion model of the winding robot.
Euler's kinematics theory is used to analyze the change of the working
position of the arm, and the rotation matrix of the arm and the constraint
equation of the motion vector of each branch chain are established. The
motion model of the arm and the manipulator are established using
inverse kinematics and analytical analysis. The motion pose of each joint of
the winding robot is studied to ensure that the robot realizes a three-phase parallel multi-wire winding motion. ADAMS software was used for kinematic simulation
analysis of the winding robot. The displacement of the branch chain on the
<span class="inline-formula"><i>x</i><i>y</i><i>z</i></span> axis was represented by the torque of the virtual motor to verify the
correctness of the inverse kinematics solution and the closure condition of
the manipulator block. Finally, the ROS simulation platform is built to
simulate the joint motion planning of the winding robot to verify the
multi-line parallel principle and the feasibility of the multi-line parallel
winding hybrid robot. The research results of this paper provide a
theoretical reference for multi-wire parallel winding equipment control.</p> |
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