Kinematics And Dynamics Analysis On Irb600Robot Palletizer

In this paper, IRB600Robot Palletizer of ABB Corporation is used as research object. Beginning with the structure, IRB600Robot Palletizer’s overall configuration is analysed. Then the structure diagram is drawn. Based on these work, kinematics mathematical model is established with D-H method so as to calculate the transformation matrix of the kinematics equation, and ultimately the direct kinematics and this kind of robots’ workspace are worked out, and uses the MATLAB simulate the2-dimentional and3-dimentional workspace so that readers can have a intuitive understanding. To meet the needs of design and analysis, the concept of work-space influence coefficient is put forward, and volume influence coefficient and direction influence coefficient are given definitions, then using GUI method, the software to calculate the work-space influence coefficient is designed, which can automatically output the corresponding sectional view and influence coefficient of the workspace after inputing the different structure parameters. Through the volume influence coefficient and direction influence coefficient, it will analyse to what extend the structure parameters influences the robots’ workspace. Finally, the robot is also analysed from the dynamics perspective, as well as the concept of influence coefficient of joint driving forces (moments) are introduced and defined in order to further study the structure parameters’influence on joint driving forces (moments). This research lays a foundation for the robot design, control and further study.