Jixie chuandong (Apr 2022)
Design and Dimensional Analysis of a Metamorphic Mechanism for Palletizing Application
Abstract
A metamorphic palletizing robot mechanism with multi degree of freedom （DOF） configuration and single-DOF configuration is designed for repetitive and diverse palletizing. The mechanism is adjusted from multi-DOF configuration to single-DOF configuration，and the movement of any two points in the workspace is realized by single-DOF configuration. Based on this，a method for calculating dimensions of the mechanism is proposed. The mechanism is divided into the essential and supporting branch chains. Firstly，the dimensions of the essential branch chain are optimized according to the workspace，and the dimensional parameters of this branch chain are obtained. Secondly，according to single-DOF configuration，the movement of any two points in the workspace and dimensional ranges of links are set as the constraint conditions. The dimensional parameters of the supporting branch chain are calculated. The reasonable configuration and dimension parameters of the mechanism are obtained through the analysis of the example study. This work provides a reference for the dimensional analysis of metamorphic mechanisms based on practical application.
