A New Type Promotion and Transporting Robot Stability Based on the Virtual Prototype Technology

A new model promotion and transporting robot, which is double hydraulic drive and seven linkage structure, has been designed. Its virtual prototype has been established. The inverse kinematic is solved based on the target trajectory. Thus the hydraulic cylinders´ velocity and acceleration is obtained. The stability optimization goal is set. Through the sensitivity analysis based on the design variables, the high sensitivity variables are selected to carry on the stability optimization design. The optimization effect is obvious.