关键词: 基于Wolf法, 李雅普诺夫指数, 码垛机器人, 稳定性, 变胞机构

Abstract:

Metamorphic mechanism would result in impact when it is changing from one configuration to the next. What is more, it would make the mechanism be unstable. Therefore, dynamic stability of metamorphic mechanism is expected to be analyzed. It is important for metamorphic mechanism to apply and spread in practical engineering. The controllable metamorphic palletizing robot mechanism is investigated. The largest Lyapunov exponent is used as metrics of dynamic stability of the system. Based on the nonlinear dynamic model of the novel controllable metamorphic palletizing robot mechanism system of all configurations under the actual operating, mechanism material parameters, control parameters and internal impact excitation are taken into consideration. After time series of steady-state responses of the mechanical system are solved by Newmark method, time delay and embedding dimension are figured out by C_C method. And phase space of the time series of steady-state responses are reconstructed. Then Wolf method is applied to calculate the largest Lyapunov exponent of this time response series. And phase diagrams of the system output paths are used to analysis stability of the system. The research provides some references for stability study of metamorphic mechanism.

Key words: based on Wolf method, Lyapunov exponent, palletizing robot, stability, metamorphic mechanism