Experimental Research on Motion Analysis Model and Trajectory Planning of GLT Palletizing Robot
To improve wood structure processing efficiency, a palletizing robot suitable for loading and unloading glued laminated timber (GLT) has been developed. The robot comprises a six-axis connecting rod mechanism and a sponge sucker as a grasping actuator, which can enable the intelligent automatic load...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-04-01
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| Series: | Buildings |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-5309/13/4/966 |
| _version_ | 1797606176882425856 |
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| author | Rui Gao Wei Zhang Guofu Wang Xiaohuan Wang |
| author_facet | Rui Gao Wei Zhang Guofu Wang Xiaohuan Wang |
| author_sort | Rui Gao |
| collection | DOAJ |
| description | To improve wood structure processing efficiency, a palletizing robot suitable for loading and unloading glued laminated timber (GLT) has been developed. The robot comprises a six-axis connecting rod mechanism and a sponge sucker as a grasping actuator, which can enable the intelligent automatic loading and unloading and palletizing operations for small-sized GLT. Matlab robotics was used to construct the kinematic model of the GLT loading and unloading robot. Based on Matlab and Monte Carlo methods, the robot workspace was simulated and analyzed to determine the scope of the robot workspace. Using the high-order quintic and sixtic polynomial curve interpolation method, the trajectory of wood structure parts in the process of loading and unloading operations was planned, respectively, under the two conditions of staying and not staying. Tests verified that the simulation results of the pose of the end-effector were consistent with the actual pose of the robot. The robot’s working range could be analyzed intuitively and effectively. The robot’s operation trajectory planning provides data support and a parameter basis for the automatic control and program design of a loading, unloading and palletizing robot. |
| first_indexed | 2024-03-11T05:11:35Z |
| format | Article |
| id | doaj.art-f41d5a48ee07445bb3109c4500ebaf47 |
| institution | Directory Open Access Journal |
| issn | 2075-5309 |
| language | English |
| last_indexed | 2024-03-11T05:11:35Z |
| publishDate | 2023-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Buildings |
| spelling | doaj.art-f41d5a48ee07445bb3109c4500ebaf472023-11-17T18:35:38ZengMDPI AGBuildings2075-53092023-04-0113496610.3390/buildings13040966Experimental Research on Motion Analysis Model and Trajectory Planning of GLT Palletizing RobotRui Gao0Wei Zhang1Guofu Wang2Xiaohuan Wang3Research Institute of Wood Industry, Chinese Academy of Forestry, Beijing 100091, ChinaResearch Institute of Wood Industry, Chinese Academy of Forestry, Beijing 100091, ChinaResearch Institute of Wood Industry, Chinese Academy of Forestry, Beijing 100091, ChinaResearch Institute of Wood Industry, Chinese Academy of Forestry, Beijing 100091, ChinaTo improve wood structure processing efficiency, a palletizing robot suitable for loading and unloading glued laminated timber (GLT) has been developed. The robot comprises a six-axis connecting rod mechanism and a sponge sucker as a grasping actuator, which can enable the intelligent automatic loading and unloading and palletizing operations for small-sized GLT. Matlab robotics was used to construct the kinematic model of the GLT loading and unloading robot. Based on Matlab and Monte Carlo methods, the robot workspace was simulated and analyzed to determine the scope of the robot workspace. Using the high-order quintic and sixtic polynomial curve interpolation method, the trajectory of wood structure parts in the process of loading and unloading operations was planned, respectively, under the two conditions of staying and not staying. Tests verified that the simulation results of the pose of the end-effector were consistent with the actual pose of the robot. The robot’s working range could be analyzed intuitively and effectively. The robot’s operation trajectory planning provides data support and a parameter basis for the automatic control and program design of a loading, unloading and palletizing robot.https://www.mdpi.com/2075-5309/13/4/966wood structureintelligent manufacturingglued laminated timberautomatic loading and unloadingtrajectory planningMonte Carlo |
| spellingShingle | Rui Gao Wei Zhang Guofu Wang Xiaohuan Wang Experimental Research on Motion Analysis Model and Trajectory Planning of GLT Palletizing Robot Buildings wood structure intelligent manufacturing glued laminated timber automatic loading and unloading trajectory planning Monte Carlo |
| title | Experimental Research on Motion Analysis Model and Trajectory Planning of GLT Palletizing Robot |
| title_full | Experimental Research on Motion Analysis Model and Trajectory Planning of GLT Palletizing Robot |
| title_fullStr | Experimental Research on Motion Analysis Model and Trajectory Planning of GLT Palletizing Robot |
| title_full_unstemmed | Experimental Research on Motion Analysis Model and Trajectory Planning of GLT Palletizing Robot |
| title_short | Experimental Research on Motion Analysis Model and Trajectory Planning of GLT Palletizing Robot |
| title_sort | experimental research on motion analysis model and trajectory planning of glt palletizing robot |
| topic | wood structure intelligent manufacturing glued laminated timber automatic loading and unloading trajectory planning Monte Carlo |
| url | https://www.mdpi.com/2075-5309/13/4/966 |
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