Design And Research Of Automatic Palletizing Robot System

Robotics technology has penetrated into all areas of human life with the developmentof science, and it will play an increasingly important role in the future. Palletizing isstacking the goods into a pile in accordance with certain rules and making works becomeunitized like goods storage, handling, transfer and so on, thus improving the workefficiency. In recent years, the palletizing robot becomes more and more widely in thefield of packaging and logistics, but in our country, the palletizing robot’s research levelstill has a big gap with foreign countries, therefore, research on the design technology ofpalletizing robot has great engineering value. The main work of this paper is to design apalletizing robot and study its properties.To be able to adapt to various shapes of goods’ requirements of palletizing, make thepalletizing robot serve humanity better, this article designs a new palletizing robot whichcan realize palletizing and destacking quickly and accurately. Firstly, the article designsthe mechanical body structure of new robots according to the work requirements, the bigarm and small arm of the body structure are driven by ball screw and linear guide, so thatthe robot’s structure becomes more compact, movements become more flexible, and alsodesigns a new end-effector which can realize palletizing and destacking. The article alsodraws a three-dimensional model of the mechanical body structure using Solidworks,selects and calculates thetypes of motors and gears being used.Then the article analyzes and simulates kinematics and dynamics of the palletizingrobot, establishes linkage coordinate system of the robot using D-H method, obtains thekinematics positive solutions and analyzes its workspace, and further obtains thekinematics inverse solutions and Jacobian matrix. After validating the special value intheory, and kinematics simulation is done using Solidworks, thus proving the correctnessof kinematics theory. The robot’s dynamics are analyzed by Newton-Euler method and thedynamic equations are obtained. The article simulates and certificates the dynamics usingADAMS, validates the correctness of dynamics theory and selected motors.Finally, does the finite element verification to the key components of the palletizing robots, validates if the strength and stiffness of the key components corresponds usingrequirements. And does the whole modal analysis for the palletizing robot, gets its firstsix-order natural frequencies and mode shapes, provides the basis of whether there isdanger of resonance and structure optimization.