Research On Performance And Discrete Variable Speed Of A New Controllable Mechanism Palletizing Robot

The ratio of load capacity/dead weight is an important index to measure the performance of the stacking robot mechanism.Through a more compact and lightweight mechanism design and drive mode,it can achieve the important functions such as accurate grabbing,rapid transfer and transportation and controllable stacking under various working conditions,which is the difficulty in the development of the stacking robot field at present.These basic functions pose a higher challenge to the mechanism synthesis and drive control of stacking robot.For a large number of repetitive stacking tasks,compared with common joint stacking robot driven by multi-motor and reducer,the new type of controllable mechanism discrete variable speed stacking robot has better load capacity/deadweight ratio and has a broad application prospect.Discrete variable speed drive number is less than its degrees of freedom robot,combined with new type of controllable institutions configuration design,Uses the compact design of parallel slider-crank mechanism and the lightweight of discrete variable speed drive control,making it at a constant speed through a single drive motor input,after discrete transmission speed motor and speed regulating CAM for discrete points,and then by the screw parallel crank slider mechanism,finally to realize the efficient control of pallet repetitive tasks.However,it also has many difficulties in the comprehensive analysis of mechanism,mathematical modeling analysis of dynamic performance,trajectory planning and drive control,which makes the research and development of discrete variable speed stacking robot lag behind and unable to meet the needs of practical application.In this paper,aiming at the problem of realizing high efficiency control of repetitive stacking tasks in complex working conditions through underactuation,a study is carried out on the configuration synthesis,kinematics,elastic dynamics,discrete variable trajectory planning and discrete variable drive control of a new type of controllable mechanism discrete variable stacking robot.Aiming at the mechanism synthesis problem of the new type of controllable mechanism stacking robot,this paper USES graph theory to calculate and analyze,and optimizes the configuration of the new controllable mechanism which meets the actual working condition requirements of stacking robot.The freedom of freedom of the parallel crankshaft-like palletizing mechanism is further analyzed by means of spindles theory.The kinematics of the discrete variable speed stacking robot mechanism based on parallel crank slider configuration is modeled.By using the closed loop vector method,the forward and inverse solutions of the motion parameters of the end tool grip pose of the palletizing mechanism are obtained.The correctness of the mathematical model was verified by the numerical calculation of MATLAB software,and the ADAMS software was used to simulate and analyze the mechanism,which proved the rationality of the design of stacking robot mechanism.In view of the elastodynamics problem faced by the parallel crank-sliding block palletizing robot mechanism,the dynamic mathematical model is established and analyzed.The kinematic differential equation of spatial beam element is derived by using the finite element method.On this basis,the dynamic model of the palletizing mechanism with the characteristics of parallel crank slider mechanism is established.Aiming at the track planning problem of stack-robot mechanism under discrete variable speed drive,the speed and acceleration planning of the tool gripper at the end of the stack-robot mechanism was carried out.The characteristics of different motion planning methods under the same motion condition are analyzed and compared.On this basis,the analysis of discrete variable speed drive is further carried out.According to the track planning of tool gripper at the end of the stacking mechanism,the inverse analysis of the motion parameters is carried out.Aiming at the problem of discrete variable speed drive control and stacking load capacity of the stacking robot mechanism,a comparative analysis of different driving control modes and different load conditions was made respectively.A simulation analysis model was established by ADAMS software,and the intermittent drive control and multi-motor full drive control were compared and analyzed with the discrete variable speed drive control respectively.Based on the analysis of the characteristics of different load capacities under three driving control modes,it is found that the parallel crank sliding block discrete variablespeed stacking robot has better load capacity/deadweight ratio.A prototype of the stacking robot with parallel crank slider mechanism and a discrete variable speed drive control box are developed by using 3D printing technology.