Optimal design and dynamic trajectory planning of a 2-DOF cable-suspended palletizing robot with parallelogram cable loop

To fabricate high speed, vast workspace, energy saving, and light weight of the logistics equipment, this paper proposes geometric and trajectory optimization methods for the cable-suspended parallel robot (CSPR), which is a two-degree-of-freedom (2-DOF) robot with a parallelogram cable loop, realizing the efficient palletizing operation with dynamic trajectories. Based on kinematic and dynamic models, the Torsion Resistance Ability Index (TRAI) and Torsion Resistance Consumption Index (TRCI) are proposed to indicate the torsion resistance performance of the CSPR with the parallelogram cable loop. A geometric optimization method is established with the reference dynamic trajectory, which provides an approach to carry out the optimal design of the CSPRs considering dynamic trajectories for the first time. For industrial palletizing, a planning method on the dynamic trajectory is proposed considering the obstacle avoidance based on the Fourier and Polynomial models. A prototype of the 2-DOF CSPR is established, and the palletizing experiments are carried out, providing a novel high-efficiency palletizing robot and technology.