Position and Posture Analysis of Conveying Bagged Materials Using Robot

摘要：

This article introduces the current situation of conveying bagged materials, and gives a method of conveying based on robot. The rotation of robot base controls the radial orientation of the centroid of the bagged material relative to the base; the pitching motion of upper and bottom arms controls the height and radius of the centroid of the bagged material relative to the base; the spin of the wrist adjusts the orientation of the bagged material; and the whole procedure gives the position and posture of the manipulator of the robot. This article provides the formulas for deciding the angle of each joint of the robot and calculating the relative moving angle of each joint from its initial point to the destination. The calculating method is simple and practical, and provides some new ideas in kinematic analysis of robot.

作者: Changchun LI Ruijing TENG Guangzhi LIU Penggui KANG

作者单位: School of Mechanical Engineering, University of Jinan Jiwei Road, Jinan, Shandong Province, 250022, China

会议类型: 国际会议

会议名称: 第六届中国国际丝绸会议暨第二届国际纺织高层论坛(The 6th China International Silk Conference and The 2nd International Textile Forum)

会议地点: 苏州

会议语种:英文

页码: 85-90

在线出版日期: 2007-09-13（万方平台首次上网日期，不代表论文的发表时间）