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Frequency response analysis of heavy-load palletizing robot considering elastic deformation
Hanwen Yu1,2, Qun Sun1, Chong Wang1
1School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, China.
Science Progress
|December 13, 2019
Summary
This study optimizes heavy-load palletizing robots by analyzing mechanical and dynamic performance. Research focuses on vibration characteristics for improved structural design and control strategies.
Area of Science:
- Robotics
- Mechanical Engineering
- Dynamic Systems Analysis
Background:
- High-speed, high-acceleration, and heavy-load palletizing robots require structural optimization.
- Vibration characteristics significantly impact robot performance and precision.
Purpose of the Study:
- To analyze the mechanical and dynamic performance of heavy-load palletizing robots.
- To investigate the influence of joint flexibility on vibration characteristics.
- To provide a theoretical basis for optimal design and control.
Main Methods:
- D-H parameter method for kinematics analysis and workspace determination.
- Establishment of a rigid-flexible coupling dynamic model using Lagrange's second equation.
- Analysis of vibration modes and frequency response based on joint stiffness.
Main Results:
- Positive kinematics solution and workspace were obtained.
- A dynamic model capturing joint flexibility was developed.
- The influence of joint stiffness on system frequency response was revealed.
Conclusions:
- Joint flexibility critically affects robot vibration performance.
- Understanding vibration modes is essential for heavy-load palletizing robots.
- The study provides a foundation for optimizing robot design and control.
Keywords:
Heavy-load palletizing robotdynamic analysiselastic deformationfrequency responsejoint flexibilityMore Related Videos
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