The Kinematics Analysis and Simulation of Stacking Robot

Abstract

High-speed and heavy-load stacking robot technology is a common key technique in nonferrous metallurgy areas. Specific layer stacking robot of aluminum ingot continuous casting production line, which has four-DOF, is designed in this paper. The kinematics model is built and studied in detail by D-H method. The transformation matrix method is utilized to solve the kinematics equation of robot. Mutual motion relations between each joint variables and the executive device of robot is got. The kinematics simulation of the robot is carried out via the ADAMS-software. The results of simulation verify the theoretical analysis and lay the foundation for following static and dynamic characteristics analysis of the robot.