| This thesis focus on mechanism design,kinematics analysis,dynamics analysis and its simulation under rigidity assumption,rigid-flexible coupling dynamics modeling and simulation of cable-linkage hybrid-driven palletizing robot(CHPR).The main work accomplished in this thesis is summarized as follows:1.This thesis proposes the CHPR and introduces the structure and transmission system of the CHPR.Degree of freedom of the CHPR is calculated through using advanced G-K formula.By contrasting it with number of motors,motion reliability of the CHPR can be verified.2.This thesis analyzes the kinematics of the CHPR.Forward kinematics analysis can deduce homogeneous matrix of position and orientation of end-effector in reference to the ground,while inverse kinematics analysis discusses solution combination of joint variables,on condition that position and orientation of end-effector are given.To verify the correctness of kinematics analysis,two special working conditions of the CHPR are chose for calculating examples.Further,one of them is simulated with virtual prototype software.3.Velocity Jacobian matrix of the CHPR is constructed under rigidity assumption in this thesis.Taking position and orientation of end-effector as generalized coordinates,this thesis develops dynamics model of the CHPR based on Lagrangian method.Then angular moments of joints and forces exerted on cables are calculated,according to the principle of virtual work.4.In this thesis,flexible body of cables can be built directly in simulation software.On this basis,rigid-flexible coupling dynamics model of the CHPR is developed.Comparison on simulation of dynamics model under rigidity assumption and rigidflexible coupling dynamics model above,validates the correctness of all dynamics analysis.Additionally,inherent position errors of the CHPR and vibration of cables are studied.Research above provides specific data for feedback loop of the control plan,which contributes to improving accuracy and security of the CHPR. |
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