Design And Drive Configuration Of Hybrid Heavy-duty Palletizing Robot

With the rapid development of transportation industry,electric commerce and automatic chemical plants,palletizing robots have gradually replaced human beings and are used by more and more production departments.In the field of heavy-duty palletizing,the tandem heavy-duty palletizing robot in the market has a huge mass and volume,and it is difficult to dismantle and transport,which has gradually failed to meet the requirements of flexible production.The hybrid mechanism,which combines the advantages of series mechanism and parallel mechanism,has been studied by more and more scholars.In this paper,the hybrid mechanism is used to design a kind of heavy-duty stacking robot with simple structure,light weight and easy to dismantle.The specific contents are as follows:1.The hybrid structure designed by graph theory and topology,and use synchronous extension bar evolve it as the mechanism of the hybrid heavy load palletizing robot.2.According to the working requirements,the driving mode and part structure of the robot are designed.Among them,the parallel double synchronous telescopic electric cylinder independently designed by our research team.3.The kinematics model of the robot is established,and the Jacobian matrix of velocity and acceleration is obtained;the workspace is described by the boundary search method and the analytical method with MATLAB software;the mechanism is analyzed,and the Jacobian matrix of force is obtained,and the design strength of the electric cylinder is verified to meet the requirements by the stability calculation method of the stepped axial compression bar.4.The dynamic model of the system is established by using Lagrange equation.On this basis,according to the principle of constant kinetic energy and power conservation,the formula of conversion of load and motor is deduced.5.According to the work requirements,the robot's path is planned,and then the Motion module plug-in of Solid Works software is used to simulate the dynamics.Using simulation data and conversion formula to select motor and reducer.The rationality of the drive configuration is verified by comparing the actual load characteristic curve with the ideal mechanical characteristic curve.