Palletizing Robot Dynamic Analysis and Simulation

摘要

Selection of drive components and determination of dynamics properties are extremely important technical components for overall design of palletizing robot. As an example, the paper firstly introduce how to establish mathematical model and finish kinematics analysis. Based on the previous work, MATLAB scripts are written through the use of Newton-Euler Method to analyze and calculate dynamic analysis, after which the parameters of dynamics are obtained. Then the dynamic behavior is studied by multi-body system simulation using ADAMS software to testify the former analysis in MATLAB. Lastly, two speed trajectory algorithm were adopted to simulate for the same working condition, in an attempt to investigate the difference in their dynamic behavior and provide a reliable theoretical basis for optimal control method.