四自由度混联式码垛机器人动态静力学分析  

Dynamic Statics Analysis of the 4-DOF Series-parallel Palletizing Robot

作　　者：王吉岱[1] 辛飞飞[1] 孙爱芹[1] 张臻臻[1] 

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《机械传动》2014年第11期76-78,110,共4页Journal of Mechanical Transmission

摘　　要：针对四自由度混联式码垛机器人采用平行四杆机构的串并联新型结构,利用动态静力学方法将瞬时惯性力系转化为静力系,通过机器人整体及其子系统的力系平衡方程建立了机器人的动态静力学模型。利用Matlab软件编写了水平轴和受力状态的程序,并进行了仿真运算和分析。该模型已成功应用于工业码垛机器人的设计和校核,样机的良好运行表明了该模型的正确性。For the new configuration of a 4-DOF series-parallel palletizing robot that four parallel bar mechanism are series parallel,its instantaneous inertial force system is transformed into a static system by using dynamic statics method.A dynamic statics model of the robot is derived from the force equilibrium equations of the robot and its subsystems.Computer programs for calculating the forces of the robots key components are written in Matlab and a sample is given and analyzed.The results show that the model is correct and it is successfully used in the design of a 4-DOF industrial palletizing robot.

关 键 词：码垛机器人 混联式 动态静力学 MATLAB 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]