The Design And Analysis Of Novel Controllable Metamorphic Palletizingrobot Institutions

Controllable mechanism and metamorphic mechanism are the important concepts of modern mechanisms field proposed in recent years. Combine them and use to projects, a kind of task-oriented controllable and metamorphic mechanism will generate, which has the feature of mechanical controllable, mechanical adjustable, flexible output, electromechanical coupling, multiple phase variability, multiple topology variability and multiple DOF variability. It will have important applications in robotics, packaging industry, aerospace, machinery, construction machinery and other fields. This paper combines metamorphic mechanism with palletizing robot of automated production lines, proposes a kind of novel controllable metamorphic palletizing robot institutions, and researches its related design basic theory, provides a theoretical reference for the performance design and its application in engineering.Combine the characteristics of controllable mechanism and metamorphic mechanism, bind four-bars and five-bars to the same entity, then apply it to the palletizing robot, design a novel controllable metamorphic palletizing robot institutions. Establish the geometric model of the institutions, and design the key controlling device of changing structure state.Use adjacency matrix to analysis institutions topology when structure state change, to obtain topology structure diagram of institutions. Establish displacement equation in accordance with the vector closed loop method, seek its first derivative and second derivative, so the velocity and acceleration equation can be obtained, then, use software to simulate and solve them, so that the velocity time domain and acceleration time domain curves can be easily obtained, analyze the motion characteristics of institutions based on the curves, to find the impact position when structure state change. By comparing the constant velocity input state and acceleration input state, the conclusion that institutions’structure state conversion should be aroused in the condition of low speed or equivalent velocity instantaneous. According to the velocity equation, the Jacobi matrix of institutions can be derived, by which the possible singular position can be easily found, and then the workspace simulation that consider singularity can be obtained.Establish plane coordinate for the novel controllable metamorphic palletizing robot institutions. based on the geometric relationship between the various bars, centroid displacement function of each bar can be received, derivation to the displacement equation can be easily solved to get the velocity of each centroid, then the kinetic energy and potential energy of each bar can be solved. Apply Lagrange method to establish dynamics numerical equation, solve the equation with Runge-Kutta standard formula, and then numerical simulation are given.Virtual simulation of the novel controllable metamorphic palletizing robot institutions is given for comparing to the results of kinematic and dynamic numerical simulation, verifies the correctness of numerical simulation.