{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T13:30:15Z","timestamp":1777901415639,"version":"3.51.4"},"reference-count":20,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2019,12,12]],"date-time":"2019-12-12T00:00:00Z","timestamp":1576108800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100007129","name":"Natural Science Foundation of Shandong Province","doi-asserted-by":"publisher","award":["ZR2019PEE006"],"award-info":[{"award-number":["ZR2019PEE006"]}],"id":[{"id":"10.13039\/501100007129","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Province Higher Institution Science and Technology Plan Project of Shandong Province","award":["J17KA028"],"award-info":[{"award-number":["J17KA028"]}]},{"name":"Special Fund Plan for Local Science and Technology Development led by Central Authority in China"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Science Progress"],"published-print":{"date-parts":[[2020,1]]},"abstract":"<jats:p>For the palletizing robot\u2019s operating characteristics of high speed, high acceleration, and heavy load, it is necessary to make a research on the structure optimization focusing on the vibration characteristics according to the mechanical and dynamic performance analysis. This article first introduces the mechanical feature and working principle of high-speed and heavy-load robot palletizer. Kinematics analysis is carried out by using D-H parameter method, which obtains positive kinematics solution and workspace. Jacobian matrix is deduced, and the relationship between joint space and Cartesian space is established. Second, for the reason that joint flexibility has a great influence on the vibration performance of the robot, a rigid\u2013flexible coupling dynamic model is established based on the simplified model of the flexible reducer and Lagrange\u2019s second equation to describe the joint flexibility of high-speed and heavy-load palletizing robot, and the vibration modes of the robot are analyzed. The influence of different joint stiffness on the frequency response of the system reveals the inherent properties of the heavy-load palletizing robot, which provides a theoretical basis for the optimal design and control of the heavy-load palletizing robot.<\/jats:p>","DOI":"10.1177\/0036850419893856","type":"journal-article","created":{"date-parts":[[2019,12,12]],"date-time":"2019-12-12T04:07:06Z","timestamp":1576123626000},"update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":17,"title":["Frequency response analysis of heavy-load palletizing robot considering elastic deformation"],"prefix":"10.1177","volume":"103","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8916-6618","authenticated-orcid":false,"given":"Hanwen","family":"Yu","sequence":"first","affiliation":[{"name":"School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, China"},{"name":"School of Control Science and Engineering, Shandong University, Jinan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qun","family":"Sun","sequence":"additional","affiliation":[{"name":"School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chong","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yongjun","family":"Zhao","sequence":"additional","affiliation":[{"name":"MH Robot & Automation Co., Ltd., Weifang, 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