Abstract
Abstract. 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 xyz 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.
Highlights
Electric vehicles will be the main means of transportation in the future
As an important component of electric vehicles (Zhu et al, 2016), small-size motors use multiple-wire winding instead of single-wire winding to meet the technical demand of large output torque (Liang et al, 2013), which is important to ensure the working performance of the motor
Zhao et al.: Design and motion analysis of a small motor stator multi-wire paralleled winding hybrid robot sis of fiber winding in response to the complex body winding problem
Summary
Electric vehicles will be the main means of transportation in the future. The National Development and Reform Commission of China expects the number of them to reach 400 million by 2050. Y. Zhao et al.: Design and motion analysis of a small motor stator multi-wire paralleled winding hybrid robot sis of fiber winding in response to the complex body winding problem. Looking at multiple grooves existing in the single-wire winding motor that needs to be wound (Wang et al, 2010), domestic scholars proposed a threading winding and automation winding machine suitable for small-size motor stators. Nikonov et al (1986) from Russia developed the Nvs23A series winding machine, aiming at the pole groove structure of the stator, and used the manufacturing technique of indirect embedding technology to complete single-wire stator winding. Domestic and foreign scholars have studied the single-wire winding method and equipment, but the multiplegroove stator winding method and related theories of smallsize motors have not been reported on. Simulation technology is used to verify the feasibility of multiple-wire winding realized by the hybrid winding robot and provides the basis for the study of multiple-wire winding automation equipment
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