Design Of Drive System Of Palletizing Robot And Its Kinematics Analysis And Simulation Research

With the development of logistics automation, factories become more eager toimprove logistics efficiency and lower logistics costs. In addition, China’s population isaging, which makes labor costs sharply increase. All of these factors contribute to moreneeds for palletizing robots that are cheap but functional. Four-DOF palletizing robot issuch a robot that can meet the needs of factories.Funded by the project “Design&Development Platform for Industrial RobotsBased on CAD/CAE” which is a key project in the863program, the paper focuses onresearch of palletizing robot. The major work and research results are as follows:1) Introduced the current research and development of palletizing robot at homeand abroad and application in the industry and described analysis methods of kinematicand workspace.2) Designed a general scheme for drive system of palletizing robot that has loadcapacity of200kg, and carried out calculation for selecting some components such asmotor, synchronous belt, ball screw and guide rail, etc. In addition, three-dimensionalmodels and2D engineering drawings of palletizing robot were designed with CADtools such as Solidworks, Caxa, etc.3) Used the D-H method to solve kinematics problems to model the robotkinematics, and numerical methods and software to draw the workspace, Therefore, theworkspace can be clearly understood.4) Carried out simulation of the kinematics and dynamics by using dynamicssimulation software Adams and the planning method of two spatial points with linearmotion and spatial arc motion in trajectory planning of the robot. The results showedthat designs of the drive system and mechanical motion are correct.