Design And Research On Palletizing Robot Workstation

In recent years,palletizing robot workstation is used more and more widely in the field of logistics,but there is a big gap with research levels of palletizing robot in China and abroad,so there is great application value in research on palletizing robot workstation.The work in this paper mainly is on design and research on palletizing robot workstation.Firstly,this paper introduces overall layout of palletizing robot workstation,and design the structure of palletizing robot according to the work requirement,and make a calculation and selection of motors and reducers,and make a static analysis for the main bearing parts of palletizing robot.Then,the analysis and simulation of dynamics and kinematics have been carried on for palletizing robot.Connecting rod coordinate system was established based on D-H method,the kinematics positive solutions was obtained and carried on the simulation with Matlab,and working space was analyzed,and trajectory of palletizing robot was planned;Dynamical equation of palletizing robot was carried on with the Newton-Euler method,and simulation was also carried on with ADAMS,verifying the accuracy of dynamic theory,and the selection of motors and reducers.In the paper,experiment platform of palletizing robot workstation was established,and the connection and communication between equipment were introduced.Because the palletizing robot is a real-time multitasking system,the Windows+ RTX operating system was used in this paper.Application of multithreading technology greatly reduced switch time and costs between tasks,and improved the overall performance of the system.The modular design was used for software system of palletizing robot,completing the software system of palletizing robot workstation.Finally,located fetching and grasping experiment and visual tracking and grasping experiment were carried on and analyzed with palletizing robot workstation in the paper.