Frequency response analysis of heavy-load palletizing robot considering elastic deformation

For the palletizing robot’s operating characteristics of high speed, high acceleration, and heavy load, it is necessary to make a research on the structure optimization focusing on the vibration characteristics according to the mechanical and dynamic performance analysis. This article first introduces the mechanical feature and working principle of high-speed and heavy-load robot palletizer. Kinematics analysis is carried out by using D-H parameter method, which obtains positive kinematics solution and workspace. Jacobian matrix is deduced, and the relationship between joint space and Cartesian space is established. Second, for the reason that joint flexibility has a great influence on the vibration performance of the robot, a rigid–flexible coupling dynamic model is established based on the simplified model of the flexible reducer and Lagrange’s second equation to describe the joint flexibility of high-speed and heavy-load palletizing robot, and the vibration modes of the robot are analyzed. The influence of different joint stiffness on the frequency response of the system reveals the inherent properties of the heavy-load palletizing robot, which provides a theoretical basis for the optimal design and control of the heavy-load palletizing robot.

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Frequency Response Analysis of Latch Utilized in High-Speed Comparator

2006 13th IEEE International Conference on Electronics, Circuits and Systems ◽

10.1109/icecs.2006.379625 ◽

2006 ◽

Cited By ~ 3

Author(s):

Shunsuke Okura ◽

Tetsuro Ohkura ◽

Kenji Taniguchi ◽

Hajime Shibata

Keyword(s):

Frequency Response ◽

High Speed ◽

Response Analysis ◽

Frequency Response Analysis

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Frequency Response Analysis of Macro-Micro Stages With Active Disturbance Reject Controller

Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications ◽

10.1115/detc2019-98352 ◽

2019 ◽

Author(s):

Danping Zeng ◽

Ruirui Huang ◽

Zhijun Yang ◽

Wenchao Xue

Keyword(s):

Frequency Response ◽

High Speed ◽

Dead Zone ◽

Elastic Vibration ◽

Settling Time ◽

Flexure Hinge ◽

Response Analysis ◽

Frequency Response Analysis ◽

Direct Drive ◽

Motion Stage

Abstract Under the disturbance of friction and the elastic deformation of motion stage, the positioning accuracy of traditional mechanical bearing high speed direct-drive motion stage can only reach the micron level, which is difficult to meet the requirement of higher speed precision positioning. Therefore, the macro-micro stages utilize the flexure hinges to compensate for displacement in the friction dead zone. However, due to the nonlinear elastic vibration of the flexure hinge during the action, the settling time of micro-platform is different with stiffnesses. Effect analysis of different stiffness on the settling time of the micro-platform is significant for the platform design. According to the motion characteristics of the macro-micro stages, this paper designs the cascade extended state observer (ESO) to estimate and compensate for the disturbance and combine the proportional–derivative (PD) controller as the active disturbance rejection control (ADRC) strategy of the micro-platform position loop. Through the frequency response analysis of the control system, the influence of different stiffness on the settling time of micro-platform is explored. The simulation results show that the ADRC strategy based on cascade ESO has better robustness, and the macro-micro stages have a shorter settling time when the flexure hinge have smaller stiffness during the positioning phase.

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Influence of recess shape on comprehensive lubrication performance of high speed and heavy load hydrostatic thrust bearing

Industrial Lubrication and Tribology ◽

10.1108/ilt-05-2018-0204 ◽

2019 ◽

Vol 71 (2) ◽

pp. 301-308

Author(s):

Mubing Yu ◽

Xiaodong Yu ◽

Xuhang Zheng ◽

Hang Qu ◽

Tengfei Yuan ◽

...

Keyword(s):

High Speed ◽

Thrust Bearing ◽

Great Influence ◽

Constant Flow ◽

Heavy Load ◽

Content Type ◽

Lubrication Performance ◽

Improved Performance ◽

Volume Method ◽

Selection Of

Purpose This paper aims to describe a theoretical and experimental research concerning influence of recess shape on comprehensive lubrication performance of high speed and heavy load hydrostatic thrust bearing with a constant flow. Design/methodology/approach The lubrication performance of a hydrostatic thrust bearing with different recess shape under the working conditions of high speed and heavy load has been simulated by using computational fluid dynamics and finite volume method. Findings It is found that the comprehensive lubrication performance of a hydrostatic thrust bearing with circular recess is optimal. The results demonstrate that recess shape has a great influence on the lubrication performance of the hydrostatic thrust bearing. Originality/value The simulation results indicate that to get an improved performance from a hydrostatic thrust bearing with constant flow, a proper selection of the recess shape is essential.

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Dynamic Study for Working Device of PE-250*400 Crusher

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.753-755.1699 ◽

2013 ◽

Vol 753-755 ◽

pp. 1699-1702 ◽

Cited By ~ 1

Author(s):

Shao Jun Bo ◽

Rui Bin Guo ◽

Hao Zhu

Keyword(s):

Dynamic Characteristics ◽

High Speed ◽

Geometric Model ◽

Great Influence ◽

Friction Model ◽

Heavy Load ◽

Jaw Crusher ◽

Eccentric Shaft ◽

Characteristics Analysis ◽

Working Device

The jaw crusher run in high speed and heavy load, high requirements for the working device performance. This paper analyse the gap between the eccentric shaft and movable jaw. Firstly, jaw crusher establish geometric model, the kinematic pair clearance two state model theory, establish the clearance contact model and the clearance friction model, based on the ADAMS software, establish the gap with the working device in the jaw crusher models. The jaw of the velocity and acceleration and the eccentric shaft and the movable jaw contact force dynamic characteristics analysis of gap is not at the same time, analysis of the results showed that gap has great influence on the dynamic characteristics of mechanism.

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