Design And Kinematics Analysis Of4-DOF Articulated Palletizing Robot

Due to their high flexibility, high efficiency and high reliability, robots are applied in more and more fields. Especially robots are becoming the key equipment of the modern logistics palletizing systems. In recent years, the palletizing robots that specifically developed for the logistics and palletizing are given higher attention. But there is still a certain gap between domestic enterprises, universities, research institutes and abroad on the robot system. Therefore, it is a great significance to enhance the capabilities of research and design of palletizing robots.This paper is subsidized by the project of emerging strategy industry of Chinese Academy of Science. The work of structural design, kinematic analysis, dynamic analysis, transient dynamics analysis and checking the stiffness and strength of the key components is developed.The first part of this paper is to research the status of development of palletizing robot. After analyzing the structural features of the same type robots, the overall configuration, joint structure, drive form of the palletizing robot is adopted according to the requirements of the project mission book. Based on the load and characteristics of motion, the type and model of the motors and reducers are determined. The detailed mechanical structure is carried out with SolidWorks software.The link coordinates system and transformation matrix of the robot is established by D-H method. Kinematics parametric design and simulation is done by using Matlab and kinematic equations could be easily obtained by inputting the different link parameters and variables. The detailed kinematics and kinematics inverse solutions are calculated. Also the Jacobian matrix is solved. On this basis, the dynamic equations of robot are set up by using the Newton-Euler recursive method and the driving torque of each joint is obtained with Matlab. Then, dynamic simulation is taken to verify the theoretical accuracy with the application of COSMOS Motion software and the type and model of the motor and reducer of each joint is inspected. Followed by, the parts of robot are manufactured and the assembly of the robot is finished. Finally, Finite element analysis is taken in ANSYS software environment including transient dynamics analysis and static modal analysis according to characteristics of the operating conditions. The contour lines of stress and deformation of each structure are attained. The local stiffness and strength of the robot are evaluated and the theoretical basis for the improvement of structural design of the robot is provided according to the results.