Dissertation
Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot

Structure Design and Optimization of a New High-speed and Overload Stacking Robot Based on Five Degrees of Freedom Parallel Mechanism

Author YinYanJun
Tutor YangPing
School Lanzhou University of Technology
Course Mechanical design theory
Keywords Palletizing robot High-speed Overload Hybrid mechanism
CLC TP242
Type Master's thesis
Year 2010
Downloads 171
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For the speed and heavy duty stacking conditions in the high-yield production of aluminum ingots stacking, this paper considered comprehensively the composition and structural characteristics of the robot body, such as kinematic degrees of freedom, motor output characteristics, kinematics and dynamics complexity, input-output decoupling of motion control and drive configurability, Researched and designed a new five-DOF high-speed heavy palletizing robot bodyThe robot body structure module used movement system program, that is parallel platform mechanism and the closed-loop kinematic chain link arm body in series. this paper analysised the composition principle and type of robot; solved the degrees of freedom; established a new high-speed heavy robot arm body coordinates, kinematic equations and speed matrix equation; Based on Pro/E dynamic display function and MATLAB iterative algorithm, respectively geometric and analytical methods for the position of inverse and inverse solutions, obtained the relations of the input and output, and used solving results, analysised the working space profile in the constraints of link lengths, the Hooke joint, ball joints limit the swing angle. Track stacking task is the subspace of work space; Based on Pro/E software, for the new high-speed heavy stacking robot, this paper conducted three-dimensional modeling, assembly, static and dynamic interference detection and Kinematics analysis. The rational and achievable of body was configurated; Through the singularity, created a simplified model and did finite element static analysis in ANSYS, the pressure, and bearing capacity of body was determined, it provided a basis of institutions establishment for further optimization models.The results showed that:freedom and the robot work space of robot system meet the ingot stacking conditions; within the allowable range of changes in deformation and stress, institutional capacity was increased substantially to meet the high-speed and overload requirement of ingot stacking; it can be as a plug and play modules to build the different processing equipment

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