Design And Development Of A High-speed Heavy-load Palletizing Robot

With the aid of the National Science and Technology Major Project, Design a4-DOF articulated high-speed heavy-load palletizing robot to automatize thepalletizing process of the beverage production line in Hangzhou Wahaha Group Co.,Ltd. This thesis investigates into some issues on static analysis, servomotorparameters and control system. The following works have been accomplished.1. Using finite element analysis tool-Solidworks Simulation, to make static analysisfor parts of the model and optimize their structure based on the results ofanalysis.Then further optimize the wall thickness of rod parts and get the stress,strain, displacement contours by analyzing for several typical position andorientation under maximum load condition. Optimization of the parts improve thestatic stiffness and dynamic property of palletizing robot,analysis of the entiremachine get the distribution feature of the static stiffness in the workplace.2. Based on the kinematics analysis with D-H method of palletizing robot,establishits forward and inverse solution matrix. Give the palletizing robot path planningin Cartesian coordinate considering the site layout of the fruit milk productionline and the requirements of speed and acceleration.Then simulate the motionwith Solidworks Motion platform and estimate the parameters of servo motor.3. A control system based on Simotion D435is proposed according to the detailcontrol and software requirements analysis. Set up the hardware platform of thecontrol system and development of the control software and related HMI.4. According to the site layout and palletizing way of the fruit milk production line,debug the palletizing process for the products of two different box.The debuggingresults made the load,speed,accuracy and other parameters meet the productionrequirements.