高速重载码垛机器人刚柔耦合模型建立及动态特性分析方法

A Method for Rigid-flexible Coupling Modeling and Dynamic Characteristic Analysis of High-speed and Heavy-load Palletizing Robots

针对高速码垛机器人高速、高加速度、大负载的工作特性,提出一种考虑关节柔性的高速重载码垛机器人结构建模及动态特性分析方法。首先,建立刚柔耦合动力学模型,对高速重载码垛机器人的关节柔性进行描述;其次,基于建立的刚柔耦合动力学模型,对机器人的重要动态特性——振动模态进行分析;最后,设计力锤瞬态激励实验,对2种方法的有效性进行验证。实验结果表明,该结构建模方法有效地分析了高速重载码垛机器人关节柔性的影响,动态特性分析方法有效地分析了机器人的振动模态。

Considering the high speed, high acceleration, heavy- load palletizing robot＇s working enar-acteristics, a structural modeling and dynamic characteristics of high speed and heavy - load palletizing robot analysis method that considers joint flexibility is proposed. First of all, the rigid -flexible coupling dy- namics model is established to describe the high - speed heavy - load palletizing robot ＇s joints flexibility; secondly, the robot＇s important dynamic characteristic -- vibration modal analysis is made, on the basis of the rigid- flexible coupling model; finally, design hammer transient excitation force is imposed on a experiment to verify the effectiveness of the two methods. The results show that the structural modeling method can effectively analyze the impact of high speed heavy - load palletizing robot＇s flexible joints and the dynamic characteristics analysis method is effective is analyzing the vibration models of the robot.