Normal dynamic statics analysis of a high speed heavy duty palletizer

A high speed heavy duty palletizer can accomplish palletizing tasks efficiently and effectively. However, vibration problems are caused by the high speed and heavy duty of the palletizers at the same time. In this paper, we propose a mathematical method to illustrate how the palletizer will react to its moving speed and bearing duty. We analyze the normal force condition of each arm, identify the weak links in the palletizer arm system and establish a dynamic statics model of the palletizer arms in the normal direction. The normal displacement of the end-effector is calculated based on superposition principle and principle of virtual work. The results show that less normal displacement is introduced by strengthening the weak link while reinforcing other links contributes little to vibration relief. Additionally, proper trajectory planning of the motion in the waist joint can help to reduce the normal displacement. The model provides a powerful theoretical basis for the design of key components of a high speed heavy duty palletizer as well.