Kinematics And Dynamics Of A New Multi-degree-of-freedom Controlled Palletizin Grobot

With the rapid development of economy in our country,industrial robot technology is constantly improving and palletizing technology has been developed rapidly.Controllable palletizing robot is widely used in various fields.As a kind of electromechanical product,the controllable mechanism can perfectly combine the control,the electric transmission and the traditional mechanism,which not only solves the problems of low speed,lack of flexibility and difficult control of motion trajectory of the traditional mechanism,but also has the electric transmission function which solves the problems of the traditional hydraulic transmission Low efficiency,high noise and other shortcomings,so the controllable mechanism has become one of the hot topics in institutional science.For the palletizing robot,the traditional palletizing robot is mainly based on the tandem type.The driving motors and decelerators are installed at the joints of each palletizing robot,which results in the palletizing robot is bulky,the moment of inertia is large,and the dynamic performance is not satisfactory.Based on the above considerations,this paper presents a new controllable palletizing robot mechanism to make up for the shortcomings of the traditional palletizing robot mechanism,the use of multiple parallelogram linkage,the number of drive motor,reducer mounted on the rack,reducing The weight of the robot arm avoids the problems of poor rigidity and large inertia at the joint,improves the movement characteristics and dynamic performance of the mechanism,and can better realize the working requirements of the palletizing operation.In this paper,the proposed new multi-degree-of-freedom controllable palletizing robot mainly do the following five aspects.(1)Described the classification and characteristics of the traditional palletizing robot,and calculated the degree of freedom of the mechanism by using the modified G-K formula of the spiral theory.(2)According to the closed-loop vector method,find the positive solution and the inverse solution of the position to get the kinematic equation,find the Jacobian matrix of the palletizing robot mechanism,and list the positions of the three singularity mechanisms,Its work space.Finally,Adams software was used to carry out the inverse kinematics simulation analysis.(3)In this chapter,the finite element method is used to establish the elastic dynamics model of a novel multi-degree-of-freedom controllable palletizing robot mechanism.The dynamic response of the new palletizing robotic mechanism was solved by the Wilson-method.The dynamic characteristics of the new palletizing robot were discussed based on the spatial distribution characteristics of the natural frequencies and mode shapes of the low-order piles.(4)By using Ansys Workbench software,Degree of controllable palletizing robot body finite element analysis of the overall stress distribution,the total deformation map and the stress cloud map of each component,and then establish its suitable virtual model,respectively,to carry out modal simulation of the two poses were The first six modes of natural frequencies and mode shapes of cloud images under the corresponding pose provide the theoretical basis for the design and improvement of the new multi-degree-of-freedom controllable palletizing robotic mechanism,which has high practical value.(5)Finally,the genetic algorithm theory is used to dynamically optimize the cross-section parameters of the palletizing robot mechanism.Through the simulation calculation of the Matlab genetic algorithm toolbox,the optimal solution of the cross-section parameters of each rod is obtained,thereby reducing the palletizing robot mechanism.The overall weight improves the stability of the palletizing robot mechanism system and provides a theoretical basis for the stability of subsequent research systems.