Kinetic Modeling and Simulation of Traditional Chinese Medicine Packing Robot

摘要

Due to its advantages, the parallel robot has wide application in the traditional Chinese medicine packing process. The robot dynamics is the basis of robot motion control, and the establishment of accurate kinetic model plays an important role. The dynamics model of the traditional Chinese medicine packing robot is established based on the Lagrange Equation. The motion of medicine packing robot with the plane is proposed. The influence of load and the structural parameters of traditional Chinese medicine packing robot on the driving joint torque are presented, which can provide reference to the design selection of parallel mechanism and the optimized design of the main parameters of packing robot.