The Study Of Nonlinear Dynamics Of The Novel Controllable Metamorphic Palletizing Robot Mechanism

The analysis of the novel controllable metamorphic palletizing robot mechanism is almost limited to the kinematics and dynamics of a linear model,but when the movement mechanism is in a particular state (such as resonance state),the links will have a large non-linear behavior of elastic deformation leaving the agency intensifies,at this point if it is still using a linear approximation model, will produce large errors, it is difficult to get accurate results.Therefore, it is necessary to study the nonlinear dynamics of novel controllable metamorphic palletizing robot institutions.Considering the nonlinear factors due to the elastically deformed geometry of links, finite element method is used to establish analytical model of nonlinear dynamics in this paper,using multi-scale method to solve the analytical model and to analyze the institutions in the free state of non-resonant and internal resonance; resonance mechanism of the institutions under the generalized force is analyzed, conditions of produce resonance phenomenon are obtained.The main resonance, super harmonic resonance and the combination resonance are also analyzed. Get the analytical solution of novel controllable metamorphic palletizing robot institutions under various resonance dynamic equations.This paper also based on iterative method dynamic equation of mechanism and proposed, combined with the specific example,the numerical simulation was carried out and numerical solution is obtained,the time domain and frequency domain curve of various resonance cases are presented. At last, build and analysis the physical simulation of novel controllable metamorphic palletizing robot institutions, compare with numerical simulation, The credibility of the numerical modeling and analysis result is verified. The paper work provide a theoretical basis for this kind of robot mechanism design, optimization and the system performance of the active control.