Analysis on the Influence of Structure Parameters on Workspace of a Novel Palletizing Robot

Based on a novel palletizing robot, its kinematic equations were estabLished by using D-H method. When considering some constraint conditions such as the translation and rotation Limitations of driving parts and joints and the interferences between Links, its kinematics equations were solved and its three-dimensional workspace maps and coordinate plane projection maps were derived by using Matlab software. Finally, the influence coefficients of the length and rotation angle of Links on workspace were presented and curves of influence coefficients of some parameters were obtained, on the basis of which, quantitative influence on workspace of structure parameters was analyzed. This method provided a basis for its structural optimization from kinematic view.