Dsign And Simulation Analysis Of Palletizing Robot

Robot has high flexibility,high efficiency and high accuracy,making robots widely applied in different production fields.Especially in automation logistics production line.The appearance of palletizing robot greatly saves manpower and material resources,speeds up the production speed,has become the object of general introduction of enterprises.At the same time,palletizing robot has also become a research hotspot at home and abroad in recent years,but there is still a certain gap between domestic applications and foreign countries.In order to speed up the equipment of domestic robot,this paper mainly aims at a palletizing robot designed for material handling of the terminal production line of the small and medium enterprises,realizes the automation and transport of material.The main contents and results are summarized as follows:(1)In this paper,we first fully investigate the development of palletizing robot at home and abroad.Taking the moving plate as an example,according to working space and task,analyzing the different structural forms of robots,the four degree of freedom joint type palletizing robot is determined,and the main joint structure parameters of the robot are designed.Finally,the overall mechanical structure of the robot is designed in detail with three dimensional software SolidWorks,and the motor and reducer of the drive system are selected according to the load and process flow.(2)We used the D-H method to build the linkage coordinate system of palletizing robot.According to it,the forward and inverse solutions of robot kinematics are derived.Then,using the Robotics Toolbox in Matlab,the visual simulation of the palletizing robot is realized,the relationship between the joint variables and the end position of the robot is visualized.Finally,a dynamic model of robot is established by dynamic statics.(3)The mechanical arm of the robot was finite element analyzed by ANSYS software,the stress and strain cloud images were obtained.According to the static analysis results,we optimized the structure of the manipulator.Then,planning the trajectory of the robot's joint space according to the working flow,using the ADAMS dynamic simulation software,carrying out the motion simulation analysis of robot,we obtained the velocity of each joint angle,the motion curve of acceleration and the displacement of the terminal actuator,verified the correctness of theoretical derivation,which lays a foundation for the design of the robot.