Internal Impact Analysis of a Novel Controllable Metamorphic Palletizing Robot Mechanism

Metamorphic mechanism would result in impact when it was changing from one configuration to the next. As a result, the internal impact force would bring about great vibration for the mechanism. What was more, it would make the mechanism be unstable. Therefore, the internal impact for metamorphic mechanism was expected to be analyzed. The controllable metamorphic palletizing robot mechanism was investigated in this paper. First of all, its kinetic characteristic was analyzed. In addition, the total momentum of the link which suffered impact was calculated. Furthermore, the impact force of the link was known. Finally, the relationship between the impact time when the mechanism was changing configuration and the momentum of the link was described through example study. The work of this paper provides some references for stability study of metamorphic mechanism.