Design and Simulation of a Handling Robot for Bagged Agricultural Materials

Abstract

Loading and unloading agriculture bags manually in the train, is labor intensive and inefficient, thus a handling robot for bagged agricultural materials has been designed to address the problem. Aimed at the tightly stacked, largely deformed and easily damaged agricultural bags, a grabbing mechanism has been designed with stable and reliable capturing performance. And statical analysis of the grabbing mechanism has been conducted. The kinematical model was established in a Denavit-Hartenberg coordinate system and solutions of the forward kinematics analysis were calculated to analyze the kinematics of the handling robot. The simulation model was built with ADAMS and the results have approved the kinematic equations as well as the good feasibility of the handling robot. Therefore, the overall design met the operational requirements.