Dynamic Analysis and Structural Optimization of a Novel Palletizing Robot

A novel palletizing robot is presented and developed.By using the Newton-Euler method and the principle that the instantaneous inertial force system could be transformed into a static system,the force equilibrium equations of the whole robot and its subsystem were derived and the robot’s dynamic models were established.After that,an example simulation was performed by using Matlab software and the structural optimization of the robot’s key parts were discussed and analyzed in ANSYS platform.The results show that the dynamic models are correct and can be helpful for the design,validation and kinetic control based on dynamics of this kind of palletizing robots.     

新型码垛机器人工作空间及影响系数分析

针对一种新型码垛机器人,利用D-H方法建立了其运动学模型,然后利用数值方法在考虑各参数边界条件的基础上对其运动学方程进行求解,得到了机器人工作空间的三维图和二维截面图。在此基础上,提出并定义了机器人工作空间影响系数,进一步求得了机器人杆长和转角参数对其工作空间的影响系数曲线,定量分析了机器人两个结构参数的变化对工作空间的影响,从运动学角度为机器人结构优化和设计提供了依据。