Kinematics analysis and simulation of series-parallel palletizing Robot

Abstract

In this paper,a kind of 4 DOF palletizing robot mechanism,the series-parallel palletizing robot mechanism that can realize three-D translation and one-D rotation,was proposed.The kinematics characteristic of this robot was investigated.By combining solving solely through reference coordinate system with homogeneous transformation solution,both of inverse and direct solution for the position,velocity and acceleration of the end manipulator were obtained.The method for optimizing robot's physical dimension was proposed,which simplifies the direct solution of mechanism's position,uncoupled kinematics solutions and reduces calculation amount.This makes it easy for the robot movement control design,movement track planning and driving force real-time control.The simulation curves of manipulator's position,velocity and acceleration when common input for this robot were given,describing t he kinematics characteristic of this robot.