陕西科技大学学报2025，Vol.43Issue(4)：152-160,9.
寄生机构式码垛机器人的重力平衡特性分析
Characterization of gravity balance of parasitic mechanism type palletizing robots
摘要
Abstract
Traditional palletizing robots,which are typically series-connected mechanisms,of-ten suffer from limitations such as insufficient stiffness,low precision,and poor stability.These drawbacks are particularly evident in their inability to achieve gravity balance for both the robot itself and its load,as well as the high motor torque required for object gripping.To address these issues,a host-parasitic hybrid multistage mechanism has been designed by in-tegrating a parasitic branch chain into the series-connected host mechanism.This innovative design leverages the characteristics of parallel mechanisms,known for their high precision,high stiffness,and good motion stability,to significantly enhance the performance of palleti-zing robots.Compared to traditional designs,the new mechanism greatly improves stiffness,precision,and stability.Theoretical modeling of gravity balance at four extreme positions pro-vides a method for achieving gravity balance,which effectively reduces motor torque.Experi-mental verification demonstrates that after implementing gravity balancing at the limit posi-tions P1,P2,P3,and P4,the torque exerted on the motor is reduced by 91.37％,76.68％,80.77％,and 62.83％,respectively.By fitting the experimental data with a T-F unity nonlin-ear curve,the carrying capacity of the mechanism is predicted based on the torque generated on the motor within a small range.The results indicate that the carrying capacities of the mechanism have improved following gravity balancing.Consequently,the research findings offer a valuable foundation for the design and development of advanced palletizing robots,highlighting the enhanced load-carrying capacity achieved through gravity balancing.关键词
宿主寄生/码垛机器人/重力平衡/承载能力Key words
host parasitism/palletizing robot/gravitational balance/carrying capacity分类
机械制造引用本文复制引用
韦为,张昊,黄亿,朱霖,黄斌,巫静..寄生机构式码垛机器人的重力平衡特性分析[J].陕西科技大学学报,2025,43(4):152-160,9.基金项目
国家自然科学基金项目(51765005) （51765005）
广西自然科学基金项目(2023GXNSFAA026378) （2023GXNSFAA026378）
广西高校中青年教师科研基础能力提升项目(2023KY0018) （2023KY0018）
