| Recently the development and the application of the hybrid robot composed of the series-parallel mechanism which is used in the automation production line is the development tendency of mechanical machining industry. This paper analyses the kinematic and dynamic features of the 4-DOF hybrid stacking robot and its parameterized optimization design, and the research achievement has great theoretical significance and practical value to the control of the robot.Combining the homogeneous coordinate transformation matrix with D-H method, this paper solves the kinematic equations of the stacking robot and works out the analytic forward and reverse position solutions of all joints. Utilizing kinematic influence coefficient matrix, then analyses velocity and acceleration of the stacking robot, gets the concise velocity and acceleration expressions. Simplifying the structure of stacking robot, then divides it into the left branch chain and right one, and develops the dynamic equation model by utilizing the Kane method. After that, this paper builds the robot structure model and virtually assembles it in Pro/E software, then introduces it into ADAMS software and conducts the kinematics simulation, gets the displacement, velocity and acceleration graphs. Comparing the simulation results with theoretical calculation results, it finds that the simulation verifies the correctness of theoretical calculation, these provide the reliable bases for the dynamics study and parameterized optimization design of the robot.At last, this paper builds the parameterized model of the stacking robot in ADAMS/View, selects the design variables, sets the range of the variables and establishes the optimization goals, then ADAMS/View provides powerful design study and optimization functional modules to carry out parameterized optimization design of the robot, finally gets a group of variables which optimize the dynamic performance of the stacking robot. |
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