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Kinematics Analysis and Simulation of the 4-DOF Hybrid Stacking Robot

Zhu Hai-ning

Open publisher page 2 citations

Abstract

Based on the 4-DOF hybrid stacking robot,it introduces the mechanism characteristics of the robot with two moving joints and two rotational joints,analyzes the manipulator and obtains the solutions of both the inverse and direct kinematics.Using the method of kinematic influencing coefficient matrix,it proposes the velocities.Finally,it builds the 3D model of the robot with Pro/E,simulates the kinematics functions with ADAMS.This verifies the correctness of the theoretical analysis.

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What this paper is about

Based on the 4-DOF hybrid stacking robot,it introduces the mechanism characteristics of the robot with two moving joints and two rotational joints,analyzes the manipulator and obtains the solutions of both the inverse and direct kinematics.Using the method of kinematic influencing coefficient matrix,it proposes the velocities.Finally,it builds the 3D model of the robot with Pro/E,simulates the kinematics functions with ADAMS.This verifies the correctness of the theoretical analysis.

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Available abstract

Based on the 4-DOF hybrid stacking robot,it introduces the mechanism characteristics of the robot with two moving joints and two rotational joints,analyzes the manipulator and obtains the solutions of both the inverse and direct kinematics.Using the method of kinematic influencing coefficient matrix,it proposes the velocities.Finally,it builds the 3D model of the robot with Pro/E,simulates the kinematics functions with ADAMS.This verifies the correctness of the theoretical analysis.

Key concepts: Kinematics, Inverse kinematics, Correctness, Robot kinematics, Kinematics equations, Stacking, Robot, Mechanism (biology)

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