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
Based on wavelet transform theory,a method for signal de-noising and singularity detection and elimination is proposed,which can reduce the noises and express local singularity.Each singularity can also be detected an...Based on wavelet transform theory,a method for signal de-noising and singularity detection and elimination is proposed,which can reduce the noises and express local singularity.Each singularity can also be detected and located through the local modulus maxima of wavelet transform.Simulation experiments are conducted with MATLAB software.The experimental results demonstrate that the method proposed in this paper is effective and feasible.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.
文摘Based on wavelet transform theory,a method for signal de-noising and singularity detection and elimination is proposed,which can reduce the noises and express local singularity.Each singularity can also be detected and located through the local modulus maxima of wavelet transform.Simulation experiments are conducted with MATLAB software.The experimental results demonstrate that the method proposed in this paper is effective and feasible.
