TH50型码垛机器人动态静力学分析

Kineto-static analysis on a TH50 type palletizing robot

针对TH50型码垛机器人采用曲柄摇块机构驱动回转副这种新构型,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编制了求解其关键零部件以及关键轴的受力状态的程序,并进行了实例计算和分析.该模型已成功应用于TH50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 palletizing robot whose revolute pair is drived with a rocker-crank mechanism,its instantaneous inertial force system was transformed into a static system by using kineto-static methods.A kineto-static model of a TH50 palletizing robot was derived from the force equilibrium equations of the robot and its subsystems.Computer programs for calculating the forces of the robot＇s key components were written in Matlab and a sample was given and analyzed.The results show that the kineto-static model is correct and it has been successfully used in the design of a TH50 palletizing robot.