The Dynamics Analysis on a Type Palletizing Robot

摘要

For a palletizing robot, based on analysis of structural and force,taking the theory of D'Alembert to transform the instantaneous inertial force system into a static system and the Kineto-static mathematical model for the robots is established through the method of Kineto-static. At last, via solving the Kineto-static mathematical model by use of the Matlab，the model is verified by calculating and analysing an example. This model is applicable to dynamic analysis on the robots with similar configuration and the results based on the parameter variation is also applicable to this kind of robot’s design, checking, and kinetic control.