Analysis and optimization for the counter-balancing method of heavy-load palletizing manipulators

Author

Yongfei Xiao ; Jie Sun ; Tie Chen ; Xinjian Fan

Author_Institution

Shandong Provincial Key Lab. of Robot & Manuf. Autom. Technol., Inst. of Autom., Jinan, China

fYear

2013

fDate

25-27 Sept. 2013

Firstpage

716

Lastpage

719

Abstract

A counter-balancing device is generally used to improve the payload capacity of industrial robots and lower energy consumption of motors. In this paper, the motion characteristics of heavy-load robots and the influence of a counter-balancing device are analyzed from the dynamic aspects. According to the dynamic model of parallel-link mechanism, a method to obtain optimal design parameters is expounded to achieve the given task on the condition of heavy load. We adopt Lagrange principal to analyze the force and torque formulation in a standard palletizing cycle. And the conclusions are used to instruct the design and optimization of a 200Kg manipulator. The simulation and optimizing results show the validity.

Keywords

energy consumption; industrial manipulators; palletising; Lagrange principal; counter-balancing device; counter-balancing method; dynamic aspects; dynamic model; energy consumption; heavy-load palletizing manipulators; heavy-load robots; industrial robots; mass 200 kg; motors; optimal design parameters; parallel-link mechanism; payload capacity; standard palletizing cycle; torque formulation; Optimization; Silicon compounds; Stability analysis; Welding; counter-balancing device; dynamic characteristic; industrial manipulators; parallel link mechanism; physical parameters;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Mechatronic Systems (ICAMechS), 2013 International Conference on

Conference_Location

Luoyang

Print_ISBN

978-1-4799-2518-6

Type

conf

DOI

10.1109/ICAMechS.2013.6681735

Filename

6681735