The Design And Dynamic Analysis Of Three Structure Changing Metamorphic Palletizing Robot Mechanism

With the development of modern production line automation level changing, Palletizing robot with its advantage in mechanical structure, applicable to a variety of circumstances, efficiency and intelligence makes it used in more and more industries and become a development trend, but at present our country has the competitive palletizing robot is less. The metamorphic mechanism ideology combine with the structure design of palletizing robot mechanism, it can give the designer to provide a new thinking and design a kind of metamorphic palletizing robot mechanism. This kind of palletizing robot mechanism not only has the characteristic of changing constantly multi-structure but also has the characteristic of changing constantly multi-DOF and so on, when the palletizing robot which has the function of metamorphic confront with different tasks, occasion and work object can make quickly adjustment and make full use of working space.To understand the basics of the palletizing robot, this article first explores the current situation of the palletizing robot at domestic and abroad structure. Apply of graph theory combined with interpolation of embryo method, obtain a new kinematic chain mix with metamorphic theory and designed three structure changing metamorphic palletizing robot with three types of configurations, multi-functional. To gain the forward and inverse solutions to position equation using the vector closed loop method for analyzing kinematic of mechanism. Solve its first derivative and second derivative to obtain the relationship function between the output terminal velocity and the input drive and put to use numerical simulation. The velocity Jacobian matrix can gain the singular position of mechanism according to the singular position condition. The position can obtain the workspace of mechanism. Next, according the coordinate establish the centroid position function of various links. Use Lagrange method to establish dynamics equation in different structure of mechanism. Finally, using virtual simulation to gain the result of kinematic analysis and dynamic analysis, compare with the numerical simulation to prove the correctness of mechanism model. Provide reliable theoretical basis for the following research.