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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.

A motion model of adjacent rollers and a contact model between rollers and raceways were established to improve the Archard wear model, and the automatic discrete failure conditions of bearing without cage were studied by combining finite element and experiment. The results show that adjacent rollers produce discrete spacing when passing through the reducer raceway, and the automatic discrete failure depends on the wear depth of the reducer raceway. The wear depth is related to the wear times. The wear depth increases linearly with the increase of wear times to a certain extent. The discrete spacing generated by the reducer raceway is not enough to disperse the adjacent rollers. The experimental results show that the wear depth of reducer raceway increases with the increase of bearing operation time, and the error decreases with the increase of wear time. The theoretical calculation value is slightly larger than the experimental value, and the average error is within an acceptable range, which verifies the correctness of the automatic discrete failure model and the automatic discrete numerical simulation.

The motorized spindle is the core component of CNC machine tools. In order to ensure its processing performance and processing safety, the temperature field of motorized spindle is studied. The three-dimensional model of the motorized spindle is established, and the convective heat transfer coefficient of the internal heat load and the simulation boundary condition are calculated by combining the heat transfer theory. The simulation is carried out by the finite element analysis software, and the internal temperature distribution of the motorized spindle under thermal steady state is calculated. Based on the numerical simulation analysis method and the thermal balance test method, the data basis for the prediction model of the motorized spindle temperature field is provided. The traditional BP neural network algorithm and PSO-BP neural network algorithm are used to predict the temperature of the motorized spindle measuring point under specific working conditions, and the temperature field prediction results are compared and analyzed. The results show that the PSO-BP neural network prediction model has good compatibility for variable data input, and the prediction results show little difference, which has high prediction accuracy and robustness.