The palletizing robot mechanism was investigated in this paper. The concepts of the metamorphic mechanism and controllable mechanism were introduced into the design of palletizing robot mechanism, a novel controllable metamorphic palletizing robot mechanism with geometric limit, which can achieve a variety of flexible action, was designed. The working space of output of the controllable metamorphic palletizing robot mechanism was obtained through simulation study, and the kinematics characteristics of the mechanism were analyzed. The work of this paper provides some references for the practical application of such kind of mechanism in the palletizing robot.

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.