Abstract
To improve wood structure processing efficiency, a palletizing robot suitable for loading and unloading glued laminated timber (GLT) has been developed. The robot comprises a six-axis connecting rod mechanism and a sponge sucker as a grasping actuator, which can enable the intelligent automatic loading and unloading and palletizing operations for small-sized GLT. Matlab robotics was used to construct the kinematic model of the GLT loading and unloading robot. Based on Matlab and Monte Carlo methods, the robot workspace was simulated and analyzed to determine the scope of the robot workspace. Using the high-order quintic and sixtic polynomial curve interpolation method, the trajectory of wood structure parts in the process of loading and unloading operations was planned, respectively, under the two conditions of staying and not staying. Tests verified that the simulation results of the pose of the end-effector were consistent with the actual pose of the robot. The robot’s working range could be analyzed intuitively and effectively. The robot’s operation trajectory planning provides data support and a parameter basis for the automatic control and program design of a loading, unloading and palletizing robot.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
