Dynamic Modeling and Error Analysis of a Cable-Linkage Serial-Parallel Palletizing Robot

The efficiency and accuracy for parallel robot play a significant role in the industrial production process. In order to further improve motion performance of robot, this paper focuses on study mechanism design, dynamic modeling error analysis cable-linkage serial-parallel palletizing (CSPR). Firstly, CSPR is designed as series-parallel hybrid driven by flexible cables, which can effectively reduce inertia response. As known that kinematic design optimization compliant mechanisms requires accurate yet efficient mathematical models, kinematics models are established homogeneous coordinate transformation method Lagrange equation. Based model variety sensors chosen construct hardware control system sliding mode variable structure strategy also based errors. Then, load carrying capacity were analyzed compared different operating conditions respectively, results verify validity mechanism.