Study on Crushing Protocol of 2，2′⁃Azobisisoheptonitrile Based on Configuration Theory of Multi⁃linkage Robot

doi:10.19491/j.issn.1001-9278.2021.10.016

Abstract

Abstract:

Aiming at the problems in the physical processing protocol of 2，2'?azobis（2，4?dimethylvaleronitrile）（ABVN）， a solution was proposed by means of a connecting rod robot to crush the remaining materials at the bottom of the barrel. Based on the Lie group and Lie algebra theory， the configuration of the connecting rod robot was designed， and a variety of equivalent kinematic chains were generated and optimized. The results indicated that selecting the RRR?type connecting rod robot for processing was an optimal physical processing protocol. The RRR?type linkage robot was easy to manufacture due to its simple structure， and it could run stably when used to disperse the remaining materials. It took 127.1， 129.1， 143.1 and 109.6 s for the current protocol， RRP?type， RPP?type， and RRR?type protocols to crush the remaining materials， respectively. The RRR?type protocol can save about 13.77 % of the processing time compared to the current protocol.

Key words: 2，2'?azobis（2，4?dimethylvaleronitrile）, physical processing, plastic, multi?linkages robot, configuration design

CLC Number:

TQ315

WU Hu, LI Xinning, YANG Xianhai, YANG Liyong. Study on Crushing Protocol of 2，2′⁃Azobisisoheptonitrile Based on Configuration Theory of Multi⁃linkage Robot[J]. China Plastics, 2021, 35(10): 92-98.

Figures/Tables 16

Fig.1. Production process of 2，2’?azobis （2，4?dimethylvaleronitrile）

Fig.2. Relationship among Lie groups， groups and differential manifolds

Fig.3. Equivalent kinematic links RRR

Fig.4. Equivalent kinematic links RRP

Fig.5. Equivalent kinematic links RPP

Fig.6. Material storage barrel

Fig.7. RRR physical processing scheme

Fig.8. Residual materials for actual production

Fig.9. Coordinate system of RRR link robot

Fig.10. RRR link robot motion simulation model

Fig.11. End actuator motion trajectory simulation diagram of RRR link robot

Fig.12. End trajectory changes of actuators

Fig.13. Simulation diagram of existing physical machining scheme

Fig.14. Processing test photo of product prototype

加工桶数	已有方案加工时间/s	RRR型加工时间/s	RRP型加工时间/s	RPP型加工时间/s
第1桶	125	112	132	142
第2桶	127	108	133	143
第3桶	119	106	129	144
第4桶	122	107	128	149
第5桶	143	111	126	145
第6桶	125	108	131	146
第7桶	126	110	130	140
第8桶	121	113	130	139
第9桶	139	109	127	142
第10桶	124	112	125	141

Tab.1. Time consumed by physical processing scheme

Fig.15. Crushing effect of the material

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