Research On Kinematics Analysis And Residual Vibration Suppression Of Robot Palletizer

Robots, as one kind of mechatronics automated equipment, can improve working conditions, increase productivity and raise product quality. Therefore, they are widely used in various fields such as industrial production and daily life. With the development of industrial robotics, robot palletizers, as handling tools, are the key equipment in industries such as logistics, handing and stacking.etc. So how to provide the robot palletizers control precision and stability has become a hot topic in robot application. Hence, how to i mprove the robot palletizers’ structure design and performance study is of great significance.Four shaft drive series robot palletizer with the advantages of small body, light quality, flexible action, and large working space, is common in indus trial application. However, this type of robot is a typical flexible mechanism. Thus, the elastic deformations will occur in the process of movement, and after the movement the residual vibration will exist in the flexible joints. This will affect the robot palletizer positional accuracy and control stability seriously. In this paper, four shaft drive series robot palletizer is as the research object, and kinematics analysis and residual vibration suppression are studied.Firstly, the overall design scheme of robot palletizer has been determined, accordi ng to the structure characteristics of robot palletizers at home and abroad. The model of robot palletizer is designed by the Solid Works software, and the prototype is manufactured. In order to set up the experiment platform, the control system is installed.Secondly, the robot palletizer kinematics is analyzed. The kinematics model is established using D-H method, and the forward and inverse calculation is completed through transform matrix and kinematical equation. Based on MATLAB software, the analysis of workspace and simulation of motion are accomplished. The 3D visualization simulation software is designed by VC++6.0 programming and Open GL technology. The motion control and real-time simulation are achieved through the interface, and then provide teaching function.Finally, the robot palletizer residual vibration suppression is studied. The dyna mics equation is derived by the Lagrange method, and the dyna mic model of driving joint is established. In order to tracking the given trajectory of terminal, the PID controller is taken. The dyna mics calculation is finished by MATLAB. For the residual vibration of flexible joints in the movement, the methods of Pulse Shaping Input and the Optional Shaping Input are introduced. The simulation and experiment using the Pulse Shaping Input method to suppress the residual vibration are completed, and the results indicate that this method can reduce residual vibration very well, and improve the control precision and stability of the system.