Analysis on Workspace and Influence Coefficients of a Proposed Palletizing Robot

摘要

The kinematic equations for a proposed palletizing robot are established using Denavit-Hartenberg (D-H) method.When considering some constraint conditions,its kinematics equations are solved by using numerical methods and its three-dimensional workspace maps and coordinate plane projection maps are derived.On this basis,the concept of influence coefficient on robot workspace is brought forward and defined.Finally,the influence coefficients curves about the length and rotation angle of links are obtained and quantitatively analyzed in detail,and its structural optimization and design from kinematic view is provided.