Research And Simulation Of The Performance Of A Novel Hybrid-driven Palletizing Robot

Recently,along with the advance of epoch,traditional palletizing technology has become increasing difficult to meet the current palletizing needs of large-scale and flexibility.Hence,the palletizing robot technology has drawn attention and research of numerous scholars.Traditional series mechanism has the inherent defects such as large moment of inertia,large cumulative error due to the fact that each motor is in the joints of the mechanism.Since multi degree of freedom controllable mechanism can easily implement flexible output of the end motion of mechanism by reasonable control over linkage of multi drive components.And the electric push cylinders has the advantages of high transmission efficiency,high control precision,low working environment requirements,high output force and so on.So the palletizing robot described in this article using hybrid-driven and controllable mechanism can improve its kinematics and dynamics performance greatly,and can meet the work requirements of palletizing better.Taking the issue above as background,the work done in this paper is briefly described as follows:Firstly,studies of subjects such as the palletizing robot,controllable mechanism,electric push cylinder etc are introduced.Secondly,by utilizing the Newton-Raphson iteration Method to establish the kinematic expressions,kinematics analysis of the novel palletizing robot with electric push cylinder and motor hybrid-driven and controllable mechanism designed by our research group is conducted.And the forward and inverse solutions of displacement vector,velocity vector and acceleration vector of the forearm are derived.Then,the working boundary condition of the mechanism is expressed by using the implicit function existence theorem.as well as give the relevant numerical example and validate the correctness for the theoretic analysis.Thirdly,the whole inertial force system is split into the static force systems of each bar by utilizing the split method.And then the forces of an arbitrary bar under arbitrary working condition are obtained by solving the static force system one by one.Fourthly,the virtual prototype model is defined in the Adams software to determine the working cycle of the robot.Then the forward and inverse solution kinematics simulation and static dynamic simulation of the robot is conducted to offer a selection scheme for driving components and verify the effectiveness of the mechanism.Fifthly,finite element analysis of the virtual prototype model of palletizing robot using Ansys workbench software is conducted to obtain its stress and total deformation conditions under load,and the strength of the palletizing robot is checked,which provide certain reference for dimension synthesis and optimization.Then,modes and the first six order modal are simulated,which offer some reference for the following work of vibration and noise reduction.