Dynamic Stability Study of a Novel Controllable Metamorphic Palletizing Robot Mechanism

Wang, Rugui

doi:10.3901/jme.2017.13.039

Cited by 8 publications

(4 citation statements)

References 1 publication

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“…Machado [9] analyzed the characteristics of the elastic contact force model and the dissipated contact force model of the flexible mechanism. Hong [10] proposed the impact dynamic modelling theory with additional contact [11] used the metamorphic palletizing robot mechanism as the research object and solved the full-configuration nonlinear dynamic model by the Newmark method.…”

Section: Introductionmentioning

confidence: 99%

Topology Transformation Analysis on Serial Flexible Variable Topology Mechanism

Geng

Huang

Liu

et al. 2023

J. Phys.: Conf. Ser.

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The flexible variable topology mechanism (FVTM) has become a research focus in the field of the mechanism because of its reconfigurable characteristics, which exhibit excellent adaptability in complicated working environments. In the process of topology transformation, the FVTM often generates impact, which leads to vibration and instability of the flexible elements. It seriously affects the accuracy and reliability of the operation. In view of this, this paper takes the serial-FVTM as an example to analyse its impact characteristics during topology transformation. The impact dynamics model is established by the theorem of impulse. Based on this, the fourth-order Runge-Kutta method is used to solve the dynamics differential equations. Using the control variable method, the influence of different parameters on the impact characteristics of the FVTM is obtained through numerical simulation analysis. Finally, the methods to improve the stability of the FVTM during topology transformation are analysed to expand new ideas for the subsequent research.

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Section: Introductionmentioning

confidence: 99%

Topology Transformation Analysis on Serial Flexible Variable Topology Mechanism

Geng

Huang

Liu

et al. 2023

J. Phys.: Conf. Ser.

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“…The main modeling methods include the Newton-Euler method, Lagrange equation, Hamilton's principle, Kane's equation, variational principle, virtual work principle [1], Finite element method [2] and so on.…”

Section: Introductionmentioning

confidence: 99%

Modeling on flexible variable topology mechanism based on the Kane method

Liu

Fan

Geng

2023

J. Phys.: Conf. Ser.

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In recent years, with the development of space science and technology and the deepening of space exploration, a new type of institution with variable topology, variable topology, with its flexibility to adapt to the environment and diversity of tasks, has become an important development direction of multi-purpose and highly integrated complex space institutions in our country. Therefore, it is very important to study the dynamic problems of this kind of flexible variable topology mechanism and explore the methods and means to improve the dynamic performance, which meets the major requirements of the development of Chinese space science and technology. In this paper, a rigid-flexible coupling manipulator system that can realize the conversion of single and two degrees of freedom is studied. The full-structure nonlinear dynamics model of the manipulator is established by using the Kane method.

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“…Ye et al 24 deduced the configuration changes of the reconfigurable limb associated with three distinct phases of the planar metamorphic mechanism. Wang et al 25 proposed the Lyapunov exponent as a dynamic stability index to evaluate the influence of internal impact excitation on the dynamic performance of a metamorphic mechanism. Zhang et al 26 utilized the principle of virtual work and established an inverse dynamic model of the kinematically redundant planar parallel mechanism.…”

Section: Introductionmentioning

confidence: 99%

Dynamic reliability analysis for configuration transformation of a controllable metamorphic palletizing robot

Chen

Wang

Dong

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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The dynamic reliability of configuration transformation is the key to ensure the normal operation of metamorphic mechanisms with multiple configurations in engineering applications. In this work, a controllable metamorphic palletizing robot for handling the workpieces was investigated. The failure function was established using the dynamic reliability model of its configuration transformation, where the uncertain variables were considered as probabilistic random and non-probabilistic interval variables. Next, a reliability analysis method used to determine and solve this function was proposed. The upper and lower failure function bounds were considered as probabilistic random variables enabling the calculation of the corresponding reliability. Regarding the case study, the reliability results of various configuration transformation types calculated via the presented method are close to those gained by the neural network-based Monte-Carlo method. Furthermore, in the experimental study, the measured data were obtained by the orthogonal design and fitted using a neural network. The reliability results show that the relative errors between the experimental results and those obtained through the proposed method are small, which suggests that the proposed method is effective. Therefore, this study provides an appropriate safety evaluation reference for the configuration transformation of metamorphic mechanisms.

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Dynamic Stability Study of a Novel Controllable Metamorphic Palletizing Robot Mechanism

Cited by 8 publications

References 1 publication

Topology Transformation Analysis on Serial Flexible Variable Topology Mechanism

Topology Transformation Analysis on Serial Flexible Variable Topology Mechanism

Modeling on flexible variable topology mechanism based on the Kane method

Dynamic reliability analysis for configuration transformation of a controllable metamorphic palletizing robot

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