Kinematics analysis and dynamics simulation of the joint type stacking robot

In order to meet the characteristics of space kinematics and dynamics of stacking robot,this paper created a method of taking advantage of parallelogram principle design of a 4 DOF stacking robot of rotary type joints.A series of kinematics equations were built according to the D-H method and the inverse solution of kinematics equations were given.Dynamics equations were derived with application of Newton-Euler method.MATLAB was used to calculate the driving torques.Finally,the dynamics simulation of the robot was given according to ADAMS.The correctness of design method is verified through comparing the results of simulation with calculation.It provides an effective basis for robot control and the appropriate drive systems.