Kinematic Analysis And Simulation Of Multi-Freedom Palletizing Robot With Controllable Mechanism

In recent years, with development of industrial robot and continuous matures of palletizing technology, palletizing robot used in more and more fields develops rapidly. Traditional palletizing robot has some shortcomings such as heavy joints, low rigidity, big inertia, error accumulation and so on. Based on the above considerations, study will be carried out aiming at the multi-freedom and controllable mechanism that applied to palletizing robot. The palletizing robot is designed by the modern theory and method of mechanical innovative design. Its input controlled by several servo motors through proper control module so as to achieve complex and flexible output. Besides, drive motors are installed in fraree not only avoiding low rigidity and big inertia but also improving kinematic and dynamic features of the mechanism. It can complete fast, accurate, reliable and continuous palletizing operations.Firstly, as the structure types and characteristics of traditional palletizing robot was simply introduced in this article, the structure types and characteristics of the multi-freedom and controllable palletizing robot will be analyzed, then the degrees of freedom will be calculated by screw theory. Secondly, according to the structure types and characteristics of the multi-freedom and controllable palletizing robot, the structure will be simplified and the mathematical model of the palletizing robot will be established, while the kinematical equation of the mechanism will be deduced as to gain the forward and inverse solutions to displacement, velocity and acceleration of the end effector by the method of close-loop vector and constrain equations and the combination of both reference coordinate system and homogeneous transformation. Then according to the singular characteristics of five-bar mechanism, singular configuration of the mechanism will be obtained by Jacobian matrix algebra method and geometric method. Simultaneously, the workspace boundary and workspace of the mechanism will be solved by the implicit function existence theorem. Nextly, kinetostatics model of the mechanism will be established by kinetostatics method based on its whole system and subsystems. Finally, after being established in Pro/E software, the three dimensional model of the palletizing robot will be imported into ADAMS/View software to carries on the kinematics and kinetostatics simulation in order to verify the feasibility of the mechanism and the rationality of the model, which will provide reliable basis for its further research such as dynamics, optimization design, kinematics accuracy analysis and so on.