Abstract
We presented the kinematical analysis of a 4-DOF hybrid palletizing robot. The palletizing robot structure was proposed and the arm model of the robot was presented. The kinematical analysis of the end robotic manipulator was given. As a result, the position, velocity, and acceleration curves as well as the maximum workspace were demonstrated by simulation in Matlab. This study would be useful for the kinematical characteristics of the 4-DOF palletizing robot in space.
Highlights
Employment of robots in manufacturing has been a valueadded entity for the company in gaining their competitive advantages
A 4-DOF palletizing robot manipulator was designed to meet the needs of high-speed palletizing in logistics automation industry and the forward kinematics model and inverse kinematics were introduced [5]
The joint displacements of 7-DOF hybrid robot were calculated with a kinematics modeling method based on the ST named METM [6]
Summary
Employment of robots in manufacturing has been a valueadded entity for the company in gaining their competitive advantages. A 4-DOF palletizing robot manipulator was designed to meet the needs of high-speed palletizing in logistics automation industry and the forward kinematics model and inverse kinematics were introduced [5]. The joint displacements of 7-DOF hybrid robot were calculated with a kinematics modeling method based on the ST (spinor theory) named METM [6]. In [13], the three-dimensional workspace maps and coordinate plane projection maps of a proposed palletizing robot were derived. The kinematics model of IRB460 configuration palletizing robot of ABB was set up based on D-H algorithm, and the three-dimensional workspace maps and coordinate plane projection maps were presented [14]. The position, velocity, and acceleration simulation curves of the end effector with a general input and the maximum workspace have been obtained by simulation and analysis
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