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Research on Kinematic and Dynamic of a Novel Palletizing Robot with Controllable Mechanism

Author: ZhangJinLing
Tutor: CaiGanWei
School: Guangxi University
Course: Mechanical Design and Theory
Keywords: palletizing robot kinematic dynamic finite element method multiple scale method
CLC: TP242
Type: Master's thesis
Year: 2013
Downloads: 17
Quote: 0
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Abstract


Controllable institutional palletizing robot mechanism is to be applied to multi-DOF controllable mechanism palletizing robot is a new agency. Among them, the multi-degree of freedom servo motor controlled by a number of agencies and the corresponding degrees of freedom agencies. It’s more original moving parts determines its output motion, so by appropriate control programs can achieve complex law of motion, change control procedures can change the output motion mechanism, namely to achieve flexible output. It is the institution of science frontiers, involving traditional institutions and agencies innovation theory design theory, technically and modern control system theory, sensor technology, artificial intelligence technology combined with each other, with a significant cross-cutting and innovation.The Traditional palletizing robot motors in series security in the joints, the robot arm heavy, inertia, so the mechanism dynamics poor performance, it is difficult to adapt to high-speed heavy handling stacking operational requirements. To solve the above problem, we propose a new type of our group controlled palletizing robot for the study, for the first time on the drive motor are mounted on a rack palletizing robot kinematics and dynamics properties of a study, the specific work reads as follows:The degree of freedom can be calculated by the theory of screw based on the screw system of kinematic pairs, while the model of forward and inverse kinematics can be established by the method of close-loop vector and constrain equations.Based on the kinematic model, one can analyze the speed and acceleration of the characters.The kinematic model based on rigid dynamics model, and then built using the Lagrangian method. A simulation is given to provide the necessary foundation to select driven motors and to design a control system for a novel type of palletizing robot based on controllable mechanism.In order to work in these new institutions to avoid strong vibration, the class of institutions and its drive motor system composed of an elastic dynamic analysis. Exists for controlled motor rotor eccentricity, its uneven air gap magnetic field, created using the finite element method with the motor electromagnetic parameters and structural parameters of the three linkage activity electromechanical coupling nonlinear system dynamics model, the use of multi-scale method for solving dynamic response of the system at any one time an approximate solution, and agencies in the self-excited inertial force of the elastic vibration resonance mechanism for analysis, the system generates resonance conditions.Finally, the application of Pro/E software rendering pallet body component model, and then this model is imported into Adams software and set up the constraint, the simulation analysis of the pallet body movements:1, the input of a given active rod, enforcement point at the end of the motion simulation output;2, for a given execution points at the end of the pallet work trajectory, obtain pallet the input of the active mechanism of law;3, on the pallet body dynamics simulation. Which verifies the correctness of stacking mechanism kinematics and dynamics is derived.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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