Structural Design and Kinematic Analysis of Fully Automated Material Handling Robots for Warehouse Logistics

摘要

In order to enhance the material handling efficiency and intelligent capabilities of warehouse logistics environments, this article focuses on the research of fully automated material handling robots. The design principles and motion structure of the robot are introduced, with a particular emphasis on establishing the kinematic model of its upper structure based on an improved Denavit-Hartenberg (D-H) approach. Kinematic analysis, including both forward and inverse solutions, is performed by incorporating joint parameters, and the results are validated. This research provides a foundational basis for the control of fully automated material handling robots, contributing to advancements in the field of intelligent warehouse logistics.