Mechanism Design of Palletizing Robot Based on Translating Cam Principle

作     者：李方义 马石磊 何洋 徐庆钟 

作者机构：Research Center for Sustainable ManufacturingShandong University 

基　　金：Supported by Natural Science Foundation of Shandong Province,China(No.ZR2010EM007) Shandong Province Science and Technology Development Plan(No.2010GGX10402) 

出 版 物：《Transactions of Tianjin University》 (天津大学学报（英文版）)

年 卷 期：2012年第18卷第6期

页      码：465-470页

摘      要：Palletizing robot technology has been applied more and more extensively in logistics automation *** 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 *** on the translating cam principle,a novel palletizing robot is *** horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides,and the vertical movement is controlled by partitioned up-and-down *** improve palletizing efficiency,the single palletizing mechanical arm is changed into ***,to improve its kinematic properties,the acceleration operating performance,joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence *** to the optimization results,the 3D model of the multi-arm palletizing robot is built in Pro/E,and the kinematic simulation is *** simulation results show that the novel mechanism and optimization parameters are rational and *** 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 *** the same time,it can increase palletizing efficiency further by adding mechanical arms.

主 题 词：palletizing robot partitioned translating cam mechanism multi-objective optimization kinematic simulation multi-ann 

学科分类：080202[080202] 08[工学] 0804[工学-材料学] 0802[工学-机械学] 

核心收录：

D　O　I：10.1007/s12209-012-1887-2

馆 藏 号：203750164...