Rigid-Flexible Coupling Dynamics Simulation of Wedge Press

Abstract

In this paper, according to the installation and replacement process of disc single edge hob, the automatic disassembly process of the press wedge of hob is selected as the main object for analysis and research, and a press wedge disassembly device is proposed based on the mechanical design theory, and its structure design and simulation analysis are carried out. First of all, through the understanding of the development and research status of tool change technology at home and abroad, the structure of tool box and the disassembly process of disc hob are analyzed. The disassembly process is divided into three steps, and the expected path curve is obtained by cubic spline interpolation. Secondly, a kind of wedge removal device is proposed and designed. The design scheme is divided into two parts: wedge clamping mechanism and path guiding mechanism. The functional requirements and mechanism realization methods are discussed respectively. The wedge clamping mechanism realizes the clamping power by transforming the traditional three claw chuck, and the path guiding mechanism adopts the two degree of freedom mechanical arm to realize the wedge pressing along the expected curve path In order to verify its feasibility and rationality, the nx10.0 software is used to build the three-dimensional assembly model of the wedge removal device. Then, the trajectory planning simulation of the two degree of freedom manipulator is carried out, the manipulator model is established by using Matlab / Robotics toolbox, and the correctness of the kinematic equation is verified by comparative solution; the workspace of the manipulator is obtained by Monte Carlo simulation, and the correctness of the theoretical working area of the manipulator is verified by comparison; the method of quintic polynomial and cubic spline interpolation is adopted Methods the multi node trajectory planning of the manipulator joint was carried out, and the displacement, velocity and acceleration curves of the two joints of the manipulator were calculated based on the intermediate data points of the expected path, which verified the good motion stability of the manipulator. Finally, the virtual prototype model of the wedge removal device is established by the joint simulation method of Adams and ANSYS, and the rigid flexible coupling dynamic simulation analysis is carried out to simulate the movement track of the wedge in the removal process, which is basically consistent with the expected path curve, which verifies the feasibility of the removal device; the stress distribution of the connecting rod is evaluated and analyzed to verify that the connecting rod can meet the material requirements Material strength requirements.