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《北京理工大学学报(英文版)》 2010-03
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Dynamic Analysis and Structural Optimization of a Novel Palletizing Robot

LI Jin-quan1,DING Hong-sheng 2,DUAN Bing-lei 1,NAN Qian 1,FU Tie2 (1.School of Automation,Beijing University of Post and Telecommunication,Beijing 100876,China;2.School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)  
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.
【Fund】: Sponsored by the National Natural Science Foundation of China (50675109)
【CateGory Index】: TP242
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