A novel palletizing robot is presented and developed.By using the Newton-Euler method and the principle that the instantaneous inertial force system could be transformed into a static system,the force equilibrium equa...A novel palletizing robot is presented and developed.By using the Newton-Euler method and the principle that the instantaneous inertial force system could be transformed into a static system,the force equilibrium equations of the whole robot and its subsystem were derived and the robot＇s dynamic models were established.After that,an example simulation was performed by using Matlab software and the structural optimization of the robot＇s key parts were discussed and analyzed in ANSYS platform.The results show that the dynamic models are correct and can be helpful for the design,validation and kinetic control based on dynamics of this kind of palletizing robots.展开更多
Palletizing robot technology has been applied more and more extensively in logistics automation field.But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the ...Palletizing robot technology has been applied more and more extensively in logistics automation field.But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the process of moving back to the taking-end and the mechanical arm has so many freedoms that its control system is relatively complex.Based on the translating cam principle,a novel palletizing robot is designed.The horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides,and the vertical movement is controlled by partitioned up-and-down spindles.To improve palletizing efficiency,the single palletizing mechanical arm is changed into multi-arm.Moreover,to improve its kinematic properties,the acceleration operating performance,joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence method.According to the optimization results,the 3D model of the multi-arm palletizing robot is built in Pro/E,and the kinematic simulation is made.The simulation results show that the novel mechanism and optimization parameters are rational and feasible.This novel palletizing robot has the advantages of cam mechanism,so it simplifies the driving mode of palletizing movement and can lower the requirements for controlling system.At the same time,it can increase palletizing efficiency further by adding mechanical arms.展开更多
The pinwheel pattern as a suitable and advantageous alternative for the loading implementation of the pallet loading problem （PLP） is identified after a survey on the loading pattern. The definitions, elements, cate...The pinwheel pattern as a suitable and advantageous alternative for the loading implementation of the pallet loading problem （PLP） is identified after a survey on the loading pattern. The definitions, elements, categories, generating algorithms of the pinwheel pattern are discussed and a uniform symmetric pinwheel notation is proposed. Based on the forming geometry of a pinwheel, the pinwheel structure is analyzed in terms of the innate box ratio, the box/block orientation and the box number by combinatorial and geometrical methods. A revised data set for the PLP with an area ratio range from 1 to 76 and a box ratio range from 1 to 10 is proposed. All pinwheel instances with this data set are calculated, and box ratio range is obtained for each possible pinwheel pattern, which can be found for all non-prime numbers of boxes. And a high box ratio makes an optimal pinwheel pattern more likely appear. Results identify the impact of the above pinwheel pattern and the box ratio on the pallet loading problem.展开更多
基金Sponsored by the National Natural Science Foundation of China (50675109)
文摘A novel palletizing robot is presented and developed.By using the Newton-Euler method and the principle that the instantaneous inertial force system could be transformed into a static system,the force equilibrium equations of the whole robot and its subsystem were derived and the robot＇s dynamic models were established.After that,an example simulation was performed by using Matlab software and the structural optimization of the robot＇s key parts were discussed and analyzed in ANSYS platform.The results show that the dynamic models are correct and can be helpful for the design,validation and kinetic control based on dynamics of this kind of palletizing robots.
基金Supported by Natural Science Foundation of Shandong Province,China(No.ZR2010EM007)Shandong Province Science and Technology Development Plan(No.2010GGX10402)
文摘Palletizing robot technology has been applied more and more extensively in logistics automation field.But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the process of moving back to the taking-end and the mechanical arm has so many freedoms that its control system is relatively complex.Based on the translating cam principle,a novel palletizing robot is designed.The horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides,and the vertical movement is controlled by partitioned up-and-down spindles.To improve palletizing efficiency,the single palletizing mechanical arm is changed into multi-arm.Moreover,to improve its kinematic properties,the acceleration operating performance,joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence method.According to the optimization results,the 3D model of the multi-arm palletizing robot is built in Pro/E,and the kinematic simulation is made.The simulation results show that the novel mechanism and optimization parameters are rational and feasible.This novel palletizing robot has the advantages of cam mechanism,so it simplifies the driving mode of palletizing movement and can lower the requirements for controlling system.At the same time,it can increase palletizing efficiency further by adding mechanical arms.
基金The National Natural Science Foundation of China(No.70571033,70831002)
文摘The pinwheel pattern as a suitable and advantageous alternative for the loading implementation of the pallet loading problem （PLP） is identified after a survey on the loading pattern. The definitions, elements, categories, generating algorithms of the pinwheel pattern are discussed and a uniform symmetric pinwheel notation is proposed. Based on the forming geometry of a pinwheel, the pinwheel structure is analyzed in terms of the innate box ratio, the box/block orientation and the box number by combinatorial and geometrical methods. A revised data set for the PLP with an area ratio range from 1 to 76 and a box ratio range from 1 to 10 is proposed. All pinwheel instances with this data set are calculated, and box ratio range is obtained for each possible pinwheel pattern, which can be found for all non-prime numbers of boxes. And a high box ratio makes an optimal pinwheel pattern more likely appear. Results identify the impact of the above pinwheel pattern and the box ratio on the pallet loading problem.
