Dynamic Research On Load-unload Bagged Materials Robot

The cement, mechanical fertilizer, grain, flour, feedstuff, minerals and so on, are usually in package, the output of these things is tremendous. Nowadays, these packages'transportation is mainly depend on manual labor, lifting them up with hand and shoulder, then put them on the lorry to carry. The worked intension is great, worked efficient is low, and further, the work environment is full of powder, powder can damage the health of workers seriously. So it need to use robot carry the package instead of labor,"Research on Bagged Materials Load-unload Materials Robot"comes out in this background, this paper depends on Shandong province Programs for Science and Technology Development , and finishes the base part of the above goals. That is to carry out the kinematics and dynamic calculation of the Bagged material transportation of 5-DOF Robot, and make corresponding simulation analysis.In the paper, it establishes the motion reference coordinate system of serial 5-link manipulator and the simplified-structure of the Multi-rigid body dynamics model. After kinematic and dynamic analysis, it presents kinematic equation and Jacobi matrix of the robot. And it educes the second kind of Lagrange dynamic equation group for the simplified-structure of the Multi-rigid body system. Develop a simple and visual custom interface based on Matlab, program the solution of differential equation about Bagged material transportation robot, convenient for solve the complicated dynamic differential equation.The paper also utilizes ADAMS virtual prototype technology to carry out the dynamic simulation of the robot system, taking the influence of gravity load into account: firstly, based on the 3D parametric modeling of Solidworks, it constructs the 3D entity model of the Bagged material transportation of 5-DOF robot. Then it inputs the virtual prototype machine into ADMAS by parasolid format that ADMAS identifies. Practical geometric parameters, physical characteristics and restriction relations are adopted to establish its kinematic simulated model. Moreover, under the gravity load, it takes the sky trajectory tracking simulating and acquires a series of important datum, which will be great significance to the further research on structure optimization and improving control quality of the robot.