混联码垛机器人静力学分析  

Hybrid Stacking Robot Analyze Statics

作　　者：郑小民 张俊[2] 邹晓晖 

机构地区：[1]江西省机械科学研究所,江西南昌330002 [2]江西农业大学工学院,江西南昌330045

出　　处：《机械设计与制造》2016年第8期232-236,共5页Machinery Design & Manufacture

基　　金：江西省科技计划重大项目"一种新型混联码垛机器人的研发"(2015ACE50009)

摘　　要：对国内各类码垛机器人结构进行分析,观察发现大部分码垛机器人的结构都采用串联机构,然而在一定条件下,串联机构稳定性差、承受负载能力较小、机器人运动学与动力学性能差;现采用混联机构来弥补串联机构上存在的不足。利用静力学方法将瞬时惯性力系转化为静力系,通过对机器人整体及其部分结构的力系平衡方程建立了机器人的静力学模型。并针对其关键零部件受力分析,进行实例计算和强度分析。结果说明该结构在受载条件下能够满足强度要求。A nalysis of domestic of all kinds of palletizing robot structure,observation found that most of the structure of the palletizing robot adopts serial mechanism,under certain conditions,however,serial mechanism poor stability,ability to withstand the load the smaller,the robot kinematics and dynamics performance is poor; We use hybrid mechanism to compensate for the serial mechanism on the deficiencies. Using statics method to instantaneous inertial force system is transformed into the static system,based on the robot and part of the overall structure of the system of force balance equation of the statics model of robot is established. And the stress analysis of the key parts for instance calculation and strength analysis. Results show that the structure under loading condition can meet the strength requirements.

关 键 词：码垛机器人 混联机构 受力分析 静力学 模型 零部件 

分 类 号：TH16[机械工程—机械制造及自动化]