码垛机器人运动学分析

Abstract

Structure analysis of four-bar linkage adopted in four-DOF palletizing robot is carried out.In the meanwhile,the kinematics analysis of the robot kinematics model established through D-H method is carried out,including the analysis of forward kinematics,inverse kinematics,working space and flexibility.Furthermore,simulation of working space is accomplished by taking advantage of the software MATLAB,and experimental verification of palletizing prototype under laboratory environment is also carried out,the feasibility of the robot working space and operational capability is verified.