Research On Structural Design And Control System Of Container Automatic Palletizing Robot

A lot of automated packing equipment has been applied in logistics and transportation industry with the development of science and technology.Most enterprises have introduction automation equipment,especially in freight transportation.For example,some heavy cargos such as air conditioner was carried by human during transportation,automated system is rarely applied in china today.A special robot pallet system was proposed in this thesis to meet the actual demand of container transportation of air conditions from AUX company.A automated transportation system for air conditions was developed,which consist of palletizing AGV cart,retractable conveyor belt and palletizing robot.The palletizing robot is the key component in the above system,which will be studied systematically.The structure of palletizing robot was designed and modeled in SolidWorks.The actuation motor and reducer was analyzed and chosed for each joint of the robot to meet to the requirements of transportation of air conditions in container.The static analysis of the key components of the palletizing robot was carried in commercial FEM software ANSYS Workbench to verify whose strength and rigidity.The kinematic model of the palletizing robot was setup up based on D-H method.The workspace of the robot was simulated and analyzed in MATLAB based on the above model.The dynamic model of the robot was derived base on Lagrange equation.The driving torque of each joint of the robot was analyzed in MATLAB based on the above dynamic model.The numerical simulation was implemented in Adamas to verify the performance of the robot.The interpolation algorithm in the path planning during the operation of the palletizing robot was studied.Three type algorithm was analised and compared,such as cubic polynomial interpolation,Cubic polynomial interpolation,quintic polynomial interpolation and cubic B-spline.The cubic B-spline has the best performance,which was chosed during the trajectory planning of the palletizing robot.The rotation angle and angular velocity during the dynamic process of the robot was simulated in Adams.A fuzzy-PID controller for each joint motor was developed to increased the operation performance of each joint of the palletizing robot.The dynamic processes of the robot including fuzzy-PID controller in each joint,was simulated and analyzed in ADAMS-MATLAB,which was compared with robot with conventional PID controller.