Kinematics Analysis of Palletizing Robot

摘要

Structure analysis on four-bar linkage adopted in four-DOF palletizing robot is done in this paper. In the meanwhile, kinematics analysis of the robot modeled through D-H method, including forward kinematics, inverse kinematics, working space and flexibility, is accomplished. Furthermore, simulation of working space is done by taking advantage of the software MATLAB, and experimental verification of palletizing prototype engine under laboratory environment is also completed, which has demonstrated the feasibility of the robots working space and operational capability.