码垛机器人的本体结构设计及运动学分析

In this paper, mechanical body structure of the palletizing robot was designed and kinematics was analyzed. First of all, on the basis of mass data reading, the body structure was designed according to the work assignment and objective of the palletizing robot. Then, the kinematic model was built by D-H method. The kinematic equation was derived based on determining the boundary conditions. At the same time, the paper also simulated the working space via software Matlab, got the three-dimension graph and the section diagram of the working space. The results of the simulation proved the working space satisfied the assignment space. Finally, kinematic simulation was done using software Solidworks, and certified the correctness of body structural design and kinematic analysis of the palletizing robot.