Analysis and optimization for the counter-balancing method of heavy-load palletizing manipulators

A counter-balancing device is generally used to improve the payload capacity of industrial robots and lower energy consumption of motors. In this paper, the motion characteristics of heavy-load robots and the influence of a counter-balancing device are analyzed from the dynamic aspects. According to the dynamic model of parallel-link mechanism, a method to obtain optimal design parameters is expounded to achieve the given task on the condition of heavy load. We adopt Lagrange principal to analyze the force and torque formulation in a standard palletizing cycle. And the conclusions are used to instruct the design and optimization of a 200Kg manipulator. The simulation and optimizing results show the validity.