Analysis And Research Of Palletizing Robot Structure

At present, with the aging of the population and the improving of person’s knowledge level, manual labor such as palletizing has become less and less attention. In addition, with the increasing of the proportion for modern equipment in factory, the stacking velocity requires to meet the producing velocity so that improving production efficiency and saving production cost, so the the palletizing robot for factories and enterprises operation,not only can improve the efficiency, but also can save the space of the factory and enhance the utilization rate of the warehouse.For Japan, Europe, the United States and other industrial developed countries, the research of robot has a very high level. Although the starting point is very earlier for our country, however,due to limited by the social environment and the lack of talent,has not made a breakthrough propress.Until the last century 90’s, the research gradually get government support and resesrch scholars has also gradually increased. As the world’s manufacturing country, industrial robot for China is very important for modern industrial production.Therefore, the study of palletizing robot plays a importment role in improving the performance of production.The paper designed four DOF palletizing robot and analysis of its characteristics. The author mainly analyzed its the kinematics and dynamics,and drawed the corresponding simulation.In addition, the paper study the palletizing robot velocity,acceleration,torque and other performance requirements. The paper mainly from the following aspects to research:Firstly, through the design of the palletizing robot structure model, the author reaearched the function of the each joint and the institutions,then according to the parameter requirements of the palletizing robot, choosed the selection of transmission mechanism of the robot. At the same time, the paper analyzed the performance of the several motor and reducer,and according to the designed requirement, choiced the appropriate motor and reducer.From the robotic kinematic positive solution, kinematic inversing solution and Jacoby matrix to analysis the palletizing robot kinematic, and its movement space is analyzed and simulated. At last, through the Robotic toolbox in MATLAB simulated its kinematics.Using the method of the Newton-Euler equation analyzed the dynamics of palletizing robot, and acquired the expression of its velocity and acceleration and each agencies torque.The finite element method is used to analyze the transient dynamics and static analysis for the the key parts of robot so that checked the strength and stiffness of the key parts.The palletizing robot working ability is relevant to its mechanical structure,workspace,flexibility. Heavy and complex mechanical structure will inevitably lead to robot’s movement workspace and flexible performance to greatly reduce.At present, the palletizing robot at home and abroad mostly use two parallel parallelogram meachanism to control wrist swing. The design eliminate the wrist motor and reduce the control of a joint, at the same time, four rod to balance.But the robot’s the front of the big arm, the back of arm and the small arm combined quadrilateral greatly limit the end effector movement,and four connecting rod mechanism also increases body complexity and weigth of the robot’s body structure and reduces the flexibility of the motion, so it is bound to affect the work efficiency.