Research On Mechanism Design And Simulation Of Small Palletizing Robot Based On MATLAB

Based on the palletizing robot as the research object,this paper applied respectively for the three dimensional modeling software SolidWorks and the simulation software MATLAB.From the small palletizing robot task space analysis,kinematics analysis,dynamics,performance analysis,the structure size optimization,the three dimensional entity modeling and simulation of the robot design and analysis conducted in-depth research and fully uses the paperless design concept The study of the robot structure design has certain reference significance.The results of the research are as follows:According to the analysis of the palletizing robot task space,to determine the scope of its actual task space,D-H method to establish the robot coordinate system,the model of kinematics analysis,deduce the actuator rod at the end of the robot posture and the relationship between the structure parameters.Analysis of the robot working space,application MATLAB programming the robot working space 3-D figure,and study the influence of main parameters on the palletizing robot workspace volume.Of the palletizing robot dynamic statics modeling,through the force analysis and acceleration analysis of the main bar,lists the different point of view of change on the driving force of the connecting rod and the influence of the driving moment,with MATLAB plot of the change of the objective function.Finally defines the joint driving force and driving moment impact coefficient,and study different lever long driving forces for change and the impact of driving moment coefficient.This paper introduces and solves the small velocity Jacobian matrix and stiffness matrix of palletizing robot,analyzes the performance of its speed and static stiffness,and velocity and acceleration is given full performance evaluation index,and the static stiffness of the whole performance evaluation index.Using MATLAB to realize the corresponding map drawing,finally analyzes the mapping and draw conclusions.Using MATLAB genetic algorithm toolbox to optimize the robot structure size,optimization in its working space,the speed performance evaluation index and static stiffness performance evaluation index as the objective function,the optimization and obtain the global optimal solution.Contrast before and after the optimization of the robot working space area,the speed performance evaluation index and static stiffness performance evaluation indicators,to verify the correctness of the optimization of structure.Application of SolidWorks software for palletizing robot entity model is established,and the model of assembly and interference checking.With MATLAB software as the platform,through SimMechanics_Links plug-in will SolidWorks software to establish three-dimensional model of palletizing robot into SimMechanics simulation environment,added to a rotary joint drive in order to realize the robot motion simulation,and the simulation results are analyzed.This article for palletizing robot mechanism design and MATLAB simulation research has certain reference value.