郝亮亮.基于3-PRC并联机构的锂电池包装机应用[J].包装工程,2021,42(1):171-177.
HAO Liang-liang.Application of Lithium Battery Packaging Machine Based on 3-PRC Parallel Mechanism[J].Packaging Engineering,2021,42(1):171-177. |
| 基于3-PRC并联机构的锂电池包装机应用 |
| Application of Lithium Battery Packaging Machine Based on 3-PRC Parallel Mechanism |
| 投稿时间：2020-06-12 |
| DOI：10.19554/j.cnki.1001-3563.2021.01.024 |
| 中文关键词: 3-PRC并联机构 工作空间 控制变量法 PID SimMechanics |
| 英文关键词: 3-PRC PM workspace controlling variable method PID SimMechanics |
| 基金项目:太原科技大学晋城校区改革创新项目(JC201902);太原科技大学大学生创新创业训练项目(XJ2020173) |
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| 中文摘要: |
| 目的 针对现有锂电池包装机在包装过程中效率和精度低，极易造成锂电池堵塞、容易卡且包装密封性差等问题，提出基于3-PRC并联机构的包装机，并引入3D打印技术。方法 首先建立3-PRC并联机构的3D数学模型，求解运动学方程;其次利用Matlab仿真法和机构的行程约束条件，由控制变量法求得该机构的位置工作空间投影视图;然后利用串级PID控制法，建立包装机的动力学及控制模型，对控制算法进行仿真验证;最后建立包装机仿真模型，并在此基础上进行实物验证。结果 3-PRC并联机构的位置工作空间具有对称的规则形状，且横截面分布均匀。在包装机定点包装过程中，各方向欧拉角变化均控制在±3°以内，各向移动过程实际偏差在±1 mm内，并能自主完成圆周运动。结论 3-PRC并联机构可以满足锂电池包装机的位置工作空间要求，仿真和实物验证结果证明了包装机运动控制的合理性与有效性，有效解决了包装过程中运动精度差的问题，可以实现锂电池包装机的快速精准运行，为该机构在锂电池包装机的进一步优化设计和深度应用3D打印技术奠定了理论基础。 |
| 英文摘要: |
| The work aims to propose a packaging machine based on 3-PRC parallel mechanism (PM) and introduce 3D printing technology in view of the problems caused by the low efficiency and accuracy of the existing lithium battery packaging machine during the packaging process, such as easy clogging and blockage of lithium battery as well as poor sealing performance of package. Firstly, a 3D mathematical model of the 3-PRC PM was established to solve the kinematics equations. Secondly, Matlab simulation method and the travel constraints of the mechanism were adopted to obtain the projected view of the mechanism’s position workspace through the control variable method. Then, cascade PID method was employed to set up the dynamics and control model of the packaging machine to simulate and verify the control algorithm. Finally, based on the simulation model of the packaging machine, physical verification was performed further. The position workspace of the 3-PRC PM had a symmetrical and regular shape, and the cross-section was evenly distributed. During the fixed-point packing process of the packaging machine, the Euler angle changes in all directions were controlled within ±3°, and the actual deviation of the movement in each direction was within ±1 mm, and the circular motion was completed autonomously. The 3-PRC PM can meet the requirements of the position workspace of the lithium battery packaging machine. Simulation and physical verification results prove the rationality and effectiveness of the motion control of the packaging machine, effectively solve the problem of poor motion accuracy during packaging, and can achieve the fast and accurate operation of the battery packaging machine, laying a theoretical foundation for the mechanism’s further optimization design and deep application of 3D printing technology in lithium battery packaging machine. |
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