Modeling and simulation of a hybrid palletizing robot arm

The arm parallelogram mechanism i s a significant component of the hybrid palletizing robot. Its size not only affects the work efficiency and kinematic accuracy of the robot, but also determines the size of the robot´s workspace. In this paper the mathematical model of the arm mechanism is proposed to analysis the proportional relationship between the robot´s workspace and the inputs. Based on the ADAMS modeling and kinematics simulation, the selected stroke amplification coefficient is verified in accordance with the design requirements. The kinematics curves and workspace of the palletizing robot in the vertical plane are also presented to verify the validity of the mathematical model.