一种新型的码垛机器人动态分析及结构优化

一种新型的码垛机器人动态分析及结构优化(中文2000字,英文1800字)
摘要:
一种新型的码垛机器人被提出和发展。利用牛顿欧拉方法定理瞬间的惯性力系统可以转化为一个静态的系统，整个机器人的力平衡方程及其子系统方程推导并建立了机器人的动力学模型。之后，在ANSYS平台通过利用MATLAB软件和结构优化实例对该机器人的关键部件进行了仿真分析。结果表明，基于这种码垛机器人动态模型是正确的，可以帮助以后的设计和稳态动力学控制。
关键词：牛顿-欧拉方法；码垛机器人；惯性力；动力学；结构优化

Dynamic Analysis and Structural Optimization of a Novel Palletizing Robot
Abstract   
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．
Key words: Newton-Euler method; palletizing robot; inertial force; dynamics; structural optimization