Development of Mixed-connection Stacking Robot Based on PMAC

摘要

According to the characteristics of series and parallel mechanism, a novel mixed-connection stacking robot was designed based on the functional requirement. The kinematics characteristic was investigated and the closed-formed solutions of both the inverse and direct kinematics were solved. The stacking path planning is given. Control system uses industrial PC (IPC) as its main computer and uses two classes distributed control structure to realize system monitoring and operation management. Main computer harmonizes the movement of every joint and traces path planning accurately. The off-line programming methods of stacking robot is presented in the way teaching and playback, the processing of stacking is researched especially, controlling software of the robot is developed. The applications prove that the robot can meet the demands of stacking in the logistics automation.