Scheme Design Of Logistics Robots And Its Kinematics And Dynamics Research

In FMS (Flexible Manufacturing System), the robot transporting system is a typical logistics transporting devices, which consists of the carrying work robots used for material handling work and the wheeled mobile robots used for material transporting work.Direct to the robot transporting system, this paper studied and designed a wheeled mobile robot (automation guide vehicle,AGV) and a carrying work robot. Also, the kinematics and dynamic analysis on the carrying work robot were carried, at the same time, corresponding simulation and experiment were conducted. The main content of this paper has following several aspects:1. Based on similar robot configuration, the main body scheme designs were conducted separately, including configuration design, power design and structural design. Also, the 3-D solid models of the two robots were set up with the software of Solidedge.2. The kinematics analysis of the carrying work robot model. Firstly, the link coordinate systems were set up with D-H method and the kinematics equation was deduced. Then, using the Pieper method and the z-y-z Euler Angle, the closed inverse solution of kinematics equation was deduced. Another, the Jacobian matrix was constructed using vector integral method, based on this, velocity analysis and irregularity analysis were conducted. At last, using same method, the kinematics equation of the Motoman Up50 Robot was deduced and tested through a experiment.3. The kinematics simulation of the carrying work robot using Virtual Prototyping Technology. The processed robot model was imported into the software ADAMS, where the simulation would been done. At last, through comparing the simulation results and theoretical results, the previous kinematics analysis results were tested.4. The dynamic analysis of the carrying work robot. First, the paper analyzed the kinematics, statics and dynamics relations between two adjacent links. Then, a dynamics solving program was written in the software Maple and the dynamics equation was deduced using Newton- Euler method. At last, the equation was tested by another dynamic simulation program.In this paper, the completed robot scheme design, as well as the carrying work robot's kinematics and dynamics analysis have made a premise foundation for further research on the subject. Besides, some analysis and simulation methods in the paper would supply some experiences to the similar robot's development.