Kineto-static analysis on a TH50 type palletizing robot
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摘要: 針對TH50型碼垛機器人采用曲柄搖塊機構驅動回轉副這種新構型,利用動態靜力學方法將瞬時慣性力系轉化為靜力系,通過機器人整體及其子系統的力系平衡方程建立了機器人的動態靜力學模型.利用Matlab編制了求解其關鍵零部件以及關鍵軸的受力狀態的程序,并進行了實例計算和分析.該模型已成功應用于TH50碼垛機器人的設計和校核,樣機的良好運行表明了該模型的正確性.Abstract: For the new configuration of a palletizing robot whose revolute pair is drived with a rocker-crank mechanism,its instantaneous inertial force system was transformed into a static system by using kineto-static methods.A kineto-static model of a TH50 palletizing robot was derived from the force equilibrium equations of the robot and its subsystems.Computer programs for calculating the forces of the robot's key components were written in Matlab and a sample was given and analyzed.The results show that the kineto-static model is correct and it has been successfully used in the design of a TH50 palletizing robot.
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Key words:
- robots /
- palletizing /
- mechanical analysis /
- dynamics /
- models
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