Vibration Modal Analysis of Parallelogram Linkage Palletizing Robot

摘要

this paper analyzes the relationship between vibration modal characteristics and mechanical size of parallelogram linkage palletizing robot, the post optimization were proposed based on the analyze result. First, palletizing robot kinematics was established as the foundation for the kinematic analysis, then building the mechanical model of the main institutions of the palletizing robot for finite element analysis, using finite element analysis software analyzed vibration modes of the palletizing robot at two typical postures, analyzed the first six modals of the two typical postures, The natural frequency of vibration modes and Vibration mode shapes were obtained; In the optimization design, the optimization is to improve the first-order vibration modes frequency. Optimization design carried on from both structure and materials aspects, through the actual parameters simulation; the optimization results were obtained and verified.