The Kinematics And Dynamics Of Palletizing Robot's Performance Analysis And Software Development

In recent years,more and more enterprises have became large-scale gradually,and more and more large supplies distribution centers and express logistics have risen up gradually,it makes the logistics automation technology as an emerging technology rapidly developing especially the palletizing robot technology.The palletizing robot's performance affects the production efficiency of the whole automation production line seriously.And now,our country does has a certain gap compared with advanced western countries in the robot technology.Therefore,the performance analyze and software development of palletizing robot have a very practical significance.According to the palletizing robot's task requirements of the dairy in crates on the automatic production line,this paper determined the overall plan and main technical parameters of 4-DOF palletizing robot,designed the structure of palletizing robot,and established the 3D model;This paper analyzed the direct and inverse kinematics solution by using D-H method,simulate the kinematics by using the Adams software,compared with analytical results,verified the accuracy of the direct and inverse kinematics,expounded the cause of the error,and corrected the kinematics model;This paper studied the working space of the robot?Jacobian matrix and its singularity,planned the trajectory to meet the work requirements,and provided a basis for subsequent motion control of the palletizing robot;This paper established the dynamic model of the 4-DOF palletizing robot by the method of lagrange equation,Analysised and calculated the dynamic coefficients?angular velocity and acceleration in the robot working time,obtained the dynamic torque of each joint,and completed the selection of each joint's motor and reducer;Finally,the user interface of the palletizing robot kinematics and dynamics analysis software was designed by using MATLAB GUI,and each function module of the software system was implemented correctly.This paper analyzes the performances of the 4-DOF palletizing robot's kinematics and dynamics,it makes the theoretical foundation for robot motion control,and has a certain practical significance.This paper develops the independent software and its built-in analytical method,it has an important reference value on follow-up research of robot.