Nonlinear Dynamic Model and Simulation of a Novel Controllable Metamorphic Palletizing Robot Mechanism
The controllable metamorphic palletizing robot mechanism was investigated in this paper.Mechanism properties,material parameters,control parameters and internal impact excitation that have influence on dynamic performance of the mechanism system were taken into consideration.Finite element method was applied.And nonlinear dynamic model of the novel controllable metamorphic palletizing robot mechanism system of all configurations under the actual operating was built when its configuration was changing from one DOF to two DOF.So the multiple-scales method was applied to solve the dynamic model of this mechanical system.Then steady-state response of the mechanical system is solved by iteration method.Finally,simulation analysis was done through example study.Dynamic response curve of this mechanism in working process was known.The work of this paper provides some references for nonlinear dynamic study and stability study of controllable metamorphic mechanism.
Metamorphic mechanism Palletizing robot Finite element method Nonlinear dynamic model Simulation
Rugui Wang Huiqing Chen Yexun Li Qingming Zou Anping Zheng
College of Mechanical Engineering,Guangxi University,Nanning 530004,China
国际会议
天津
英文
1-9
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）