Mechanism Design And Simulation Of Palletizing Convey Robot

The palletizing convey robot is a typical industrial robot, it is widely used in palletizing andconveying materials in the fields of Pharmaceutics, petrochemical industry and others, because ofits broad work range, flexible movement, compact structure, and the ability to catch objects nearthe machine plinth. In this paper, in view of the problems that depending on the importedtechnology of foreign palletizing robot, and the gap in research and applications of palletizingrobot between our country and industrialized countries, a scheme to develop a practical Six-Dofpalletizing robot is presented, it can be applied to a variety of material handling equipments, inorder to break the pattern of depending on imported foreign palletizing convey robot, andimprove the market competitiveness of domestic palletizing convey robot.In this paper, researches of palletizing convey robot is widely conducted, and mechanicaldesign, kinematics modeling, dynamic modeling, trajectory planning, trajectory interpolation,motion simulation and other related issues of palletizing robot are studied. The main contents areas follows:Based on structural characteristics of the human arm, the degree of freedom and joint size ofconstituent units of palletizing convey robot is determined by using robotic mechanisms scienceand industrial robot design method, each shutdown is designed, and a robot complete physicalModel is built by using three-dimensional solid design software PRO/E.The coordinate systems of the palletizing convey robot is established by using the D-Hmethod. Then, use the homogeneous coordinate transformation method for Kinematic analysis.And based on the results of kinematic analysis, the dynamics model of palletizing convey robot isestablished by using the Lagrange method.According to the motion characteristics of human arm handling, the trajectories ofpalletizing convey robot are planned, and the trajectories of palletizing and conveying aredesigned, which provide a theoretical basis for the realization of stable operation of the robot.By using three-dimensional solid software PRO/E and mechanical system dynamicssimulation software ADAMS, simulation models are built, trajectory and simulation are planned,and then a series of kinematics and dynamics simulation data is obtained, thus provide atheoretical basis for researching the physical prototype and optimizing institutions of thepalletizing convey robot.