码垛小车机械系统动态特性的建模分析  

Kinetic Modelling and Performance Analysis of the Palletizing-lifter Mechanical System

作　　者：高建华[1] 杨汝清[1] 胡洪国[1] 仲昕[1] 

机构地区：[1]上海交通大学机器人所,上海200030

出　　处：《机械科学与技术》2001年第6期872-874,共3页Mechanical Science and Technology for Aerospace Engineering

摘　　要：建立了码垛升降小车机械系统的动力学模型 ,并应用运动弹性动力学方法分析了系统的动态特性。根据由小车工作行程确定的相应调速曲线来计算小车的瞬时位移 ,从而对模型进行了精确求解 ,获得了垂直方向振动速度与加速度的动态响应 ,为码垛机械系统动态性能的优化设计提供了依据。此外 ,对修改结构参数以提高动态性能进行了初步探讨。The kinetic model of the palletizing-lifter mec hanical system is established. The dynamic characteristics of the system are ana lyzed by Kineto-Elasto-Dynamics (KED) method. According to the speed curves de signed by working-path, the transient displacements of lifter can be calculated .. As a result, the relatively accurate dynamic responses of velocity and accele r ation are obtained. The results can be used to improve the dynamic performance o f lifting mechanical system. In addition, the modifications of structural parame ters for improving dynamic performance are discussed.

关 键 词：动态特性分析 运动弹性动力学 码垛机 升降小车 振动 建模 

分 类 号：TH246[机械工程—机械制造及自动化] TH113