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.