Research On Rigid-flexible Coupling Dynamics Of A Multi-stage Telescopic Arm Palletizing Robot

With the rapid development of logistics industry,domestic industrial enterprises have a great demand for handling robots,but most domestic and foreign palletizing robots are designed based on the existing industrial general robots.The disadvantages of such robots are low load,low working performance and low loading efficiency.They generally use the loading mode of "single box loading" or "two box loading".The efficiency of palletizing robot designed based on the existing industrial general robot has not been able to keep up with the needs of customers.In this context,it is extremely urgent to research on “heavy load”palletizing robot.The palletizing robot is divided into Cargo conveying part and robot part.At present,most of the palletizing robots used at home and abroad are designed based on the existing industrial general robots.These robots clamp and load the goods by the existing general 6R manipulator and the existing fixture.The theoretical research of this kind of robot has been more mature.So enterprises only need to control program and design the part of conveying goods,then the robot can be put into production.The advantages of this kind of palletizing robot are low design and development cost.But its disadvantages are low load and low efficiency.Therefore the "heavy load" palletizing robots,integrated the conveying and palletizing through the structural innovation,replace the existing industrial general robot.And these robots have the ability of "heavy load" operation,which meets the actual performance requirements of container palletizing.Based on the characteristics of structural innovation of "heavy load" palletizing robot,we explores a mathematical modeling method of rigid flexible coupling kinematics and rigid flexible coupling dynamics suitable for "heavy load" palletizing robot.In this paper,a "heavy load" palletizing robot is taken as the research object,and its structure is analyzed.In this paper,the D-H method is used to establish the kinematics model of the palletizing robot,and then the correctness of the rigid body kinematics model is verified by kinematics simulation.Then,we simplifiy the mathematical model of the palletizing robot structure,and put forward three reasonable dynamic mathematical modeling scheme of the "heavy load" palletizing robot.We choose the optimal dynamic mathematical modeling scheme and establish the rigid body dynamic equation of the palletizing robot.Then ADAMS is used to simulate the prototype and verify the correctness of the mathematical model of rigid body dynamics.In order to improve the positioning accuracy and accurately analyze the actual dynamic characteristics of the robot,the deformation equation of the multi-stage telescopic arm is derived based on Euler–Bernoulli beam theory.We establish the rigid flexible coupling kinematics and rigid flexible coupling dynamics mathematical models of the multi-stage telescopic arm.By comparing the rigid body dynamics calculation results,rigid flexible coupling dynamics calculation results and flexible dynamics simulation results,it is concluded that rigid flexible coupling dynamics can better describe the actual force situation of palletizing robot than rigid body dynamics.