Abstract
The palletizing robot mechanism was investigated in this paper. The concepts of the metamorphic mechanism and controllable mechanism were introduced into the design of palletizing robot mechanism, a novel controllable metamorphic palletizing robot mechanism with geometric limit, which can achieve a variety of flexible action, was designed. The working space of output of the controllable metamorphic palletizing robot mechanism was obtained through simulation study, and the kinematics characteristics of the mechanism were analyzed. The work of this paper provides some references for the practical application of such kind of mechanism in the palletizing robot.
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