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Frequency response analysis of heavy-load palletizing robot considering elastic deformation
For the palletizing robot’s operating characteristics of high speed, high acceleration, and heavy load, it is necessary to make a research on the structure optimization focusing on the vibration characteristics according to the mechanical and dynamic performance analysis. This article first introduc...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
SAGE Publications
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10452789/ https://www.ncbi.nlm.nih.gov/pubmed/31826712 http://dx.doi.org/10.1177/0036850419893856 |
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author | Yu, Hanwen Sun, Qun Wang, Chong Zhao, Yongjun |
author_facet | Yu, Hanwen Sun, Qun Wang, Chong Zhao, Yongjun |
author_sort | Yu, Hanwen |
collection | PubMed |
description | For the palletizing robot’s operating characteristics of high speed, high acceleration, and heavy load, it is necessary to make a research on the structure optimization focusing on the vibration characteristics according to the mechanical and dynamic performance analysis. This article first introduces the mechanical feature and working principle of high-speed and heavy-load robot palletizer. Kinematics analysis is carried out by using D-H parameter method, which obtains positive kinematics solution and workspace. Jacobian matrix is deduced, and the relationship between joint space and Cartesian space is established. Second, for the reason that joint flexibility has a great influence on the vibration performance of the robot, a rigid–flexible coupling dynamic model is established based on the simplified model of the flexible reducer and Lagrange’s second equation to describe the joint flexibility of high-speed and heavy-load palletizing robot, and the vibration modes of the robot are analyzed. The influence of different joint stiffness on the frequency response of the system reveals the inherent properties of the heavy-load palletizing robot, which provides a theoretical basis for the optimal design and control of the heavy-load palletizing robot. |
format | Online Article Text |
id | pubmed-10452789 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | SAGE Publications |
record_format | MEDLINE/PubMed |
spelling | pubmed-104527892023-08-26 Frequency response analysis of heavy-load palletizing robot considering elastic deformation Yu, Hanwen Sun, Qun Wang, Chong Zhao, Yongjun Sci Prog Original Manuscript For the palletizing robot’s operating characteristics of high speed, high acceleration, and heavy load, it is necessary to make a research on the structure optimization focusing on the vibration characteristics according to the mechanical and dynamic performance analysis. This article first introduces the mechanical feature and working principle of high-speed and heavy-load robot palletizer. Kinematics analysis is carried out by using D-H parameter method, which obtains positive kinematics solution and workspace. Jacobian matrix is deduced, and the relationship between joint space and Cartesian space is established. Second, for the reason that joint flexibility has a great influence on the vibration performance of the robot, a rigid–flexible coupling dynamic model is established based on the simplified model of the flexible reducer and Lagrange’s second equation to describe the joint flexibility of high-speed and heavy-load palletizing robot, and the vibration modes of the robot are analyzed. The influence of different joint stiffness on the frequency response of the system reveals the inherent properties of the heavy-load palletizing robot, which provides a theoretical basis for the optimal design and control of the heavy-load palletizing robot. SAGE Publications 2019-12-12 /pmc/articles/PMC10452789/ /pubmed/31826712 http://dx.doi.org/10.1177/0036850419893856 Text en © The Author(s) 2020 https://creativecommons.org/licenses/by-nc/4.0/This article is distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 License (https://creativecommons.org/licenses/by-nc/4.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage). |
spellingShingle | Original Manuscript Yu, Hanwen Sun, Qun Wang, Chong Zhao, Yongjun Frequency response analysis of heavy-load palletizing robot considering elastic deformation |
title | Frequency response analysis of heavy-load palletizing robot considering elastic deformation |
title_full | Frequency response analysis of heavy-load palletizing robot considering elastic deformation |
title_fullStr | Frequency response analysis of heavy-load palletizing robot considering elastic deformation |
title_full_unstemmed | Frequency response analysis of heavy-load palletizing robot considering elastic deformation |
title_short | Frequency response analysis of heavy-load palletizing robot considering elastic deformation |
title_sort | frequency response analysis of heavy-load palletizing robot considering elastic deformation |
topic | Original Manuscript |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10452789/ https://www.ncbi.nlm.nih.gov/pubmed/31826712 http://dx.doi.org/10.1177/0036850419893856 |
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