A New Type Promotion and Transporting Robot Stability Based on the Virtual Prototype Technology

Author

Zhi-gang, Li ; Xin-jian, Zhou

Author_Institution

Key Lab. of Minist. of Educ. for Conveyance & Equip., East China Jiaotong Univ., Nanchang, China

fYear

2010

fDate

25-27 June 2010

Firstpage

2610

Lastpage

2613

Abstract

A new model promotion and transporting robot, which is double hydraulic drive and seven linkage structure, has been designed. Its virtual prototype has been established. The inverse kinematic is solved based on the target trajectory. Thus the hydraulic cylinders´ velocity and acceleration is obtained. The stability optimization goal is set. Through the sensitivity analysis based on the design variables, the high sensitivity variables are selected to carry on the stability optimization design. The optimization effect is obvious.

Keywords

acceleration control; hydraulic drives; position control; robot kinematics; stability; velocity control; virtual prototyping; hydraulic cylinder acceleration; hydraulic cylinder velocity; hydraulic drive; inverse kinematic; linkage structure; promotion robot stability; sensitivity analysis; stability optimization goal; target trajectory; transporting robot stability; virtual prototype technology; Acceleration; Optimization; Robot kinematics; Sensitivity; Stability analysis; Trajectory; optimization; robot; stability; virtual prototype;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Control Engineering (ICECE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-6880-5

Type

conf

DOI

10.1109/iCECE.2010.1442

Filename

5629843