Analysis on the workspace of palletizing robot based on AutoCAD

5th Asia Conference on Mechanical and Materials Engineering

机械制造;材料科学

Li, Jin-Quan^1 ; Zhang, Rui^1 ; Guan, Qi^1 ; Cui, Fang^1 ; Chen, Kuan^1

Automation School, Beijing University of Posts and Telecommunications, Beijing

100876, China^1

关键词: 2d and 3d workspaces;    Design and analysis;    Four degree of freedom;    Interface program;    Palletizing robot;    Secondary development;    Structural parameter;    Structure parameter;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/241/1/012018/pdf
DOI  :  10.1088/1757-899X/241/1/012018

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

In this paper, a four-degree-of-freedom articulated palletizing robot is used as the object of research. Based on the analysis of the overall configuration of the robot, the kinematic mathematical model is established by D-H method to figure out the workspace of the robot. In order to meet the needs of design and analysis, using AutoCAD secondary development technology and AutoLisp language to develop AutoCAD-based 2D and 3D workspace simulation interface program of palletizing robot. At last, using AutoCAD plugin, the influence of structural parameters on the shape and position of the working space is analyzed when the structure parameters of the robot are changed separately. This study laid the foundation for the design, control and planning of palletizing robots.