Kinematics Modeling and Simulation of a Self-propelled Wrapping Packaging Robot
The development of the self-propelled wrap-around packaging robot can significantly boost the technological progress of the industry. This research introduces a self-propelled wrap-around packaging robot with a new working mode. For this packaging robot, the AGV equipped with a 6-DOFs robot arm to c...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.07.021 |
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| author | Chen Yu Shi Yalei Hu Yakai Wang Liangwen Liu Xuling Jing Xiaodi |
| author_facet | Chen Yu Shi Yalei Hu Yakai Wang Liangwen Liu Xuling Jing Xiaodi |
| author_sort | Chen Yu |
| collection | DOAJ |
| description | The development of the self-propelled wrap-around packaging robot can significantly boost the technological progress of the industry. This research introduces a self-propelled wrap-around packaging robot with a new working mode. For this packaging robot, the AGV equipped with a 6-DOFs robot arm to construct a mobile robot arm is used as the main body. The packaging film fixing device and the film drawing frame are loaded on the AGV, to realize the complete autonomous wrapping work. On the basis of introducing the overall structure of winding packaging robot, the working process of typical objects winding packaging with a mobile manipulator is analyzed and kinematics modeling is conducted. A simulation analysis system is developed based on the mathematical model of the mobile robot arm and the model of winding typical objects. The calculation and simulation results show that the wrap-around packaging robot can complete the wrapping work of packaging film and meet the design requirements. The related work provides a basis for the practical application of the self-propelled wrap-around packaging robot. |
| format | Article |
| id | doaj-art-67b1c6b5cd634596a3bb294122573e28 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-67b1c6b5cd634596a3bb294122573e282025-01-10T14:58:21ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-07-014714915540048093Kinematics Modeling and Simulation of a Self-propelled Wrapping Packaging RobotChen YuShi YaleiHu YakaiWang LiangwenLiu XulingJing XiaodiThe development of the self-propelled wrap-around packaging robot can significantly boost the technological progress of the industry. This research introduces a self-propelled wrap-around packaging robot with a new working mode. For this packaging robot, the AGV equipped with a 6-DOFs robot arm to construct a mobile robot arm is used as the main body. The packaging film fixing device and the film drawing frame are loaded on the AGV, to realize the complete autonomous wrapping work. On the basis of introducing the overall structure of winding packaging robot, the working process of typical objects winding packaging with a mobile manipulator is analyzed and kinematics modeling is conducted. A simulation analysis system is developed based on the mathematical model of the mobile robot arm and the model of winding typical objects. The calculation and simulation results show that the wrap-around packaging robot can complete the wrapping work of packaging film and meet the design requirements. The related work provides a basis for the practical application of the self-propelled wrap-around packaging robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.07.021Packaging robotWrap-around packagingMobile robot armKinematic modelingSimulation |
| spellingShingle | Chen Yu Shi Yalei Hu Yakai Wang Liangwen Liu Xuling Jing Xiaodi Kinematics Modeling and Simulation of a Self-propelled Wrapping Packaging Robot Jixie chuandong Packaging robot Wrap-around packaging Mobile robot arm Kinematic modeling Simulation |
| title | Kinematics Modeling and Simulation of a Self-propelled Wrapping Packaging Robot |
| title_full | Kinematics Modeling and Simulation of a Self-propelled Wrapping Packaging Robot |
| title_fullStr | Kinematics Modeling and Simulation of a Self-propelled Wrapping Packaging Robot |
| title_full_unstemmed | Kinematics Modeling and Simulation of a Self-propelled Wrapping Packaging Robot |
| title_short | Kinematics Modeling and Simulation of a Self-propelled Wrapping Packaging Robot |
| title_sort | kinematics modeling and simulation of a self propelled wrapping packaging robot |
| topic | Packaging robot Wrap-around packaging Mobile robot arm Kinematic modeling Simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.07.021 |
| work_keys_str_mv | AT chenyu kinematicsmodelingandsimulationofaselfpropelledwrappingpackagingrobot AT shiyalei kinematicsmodelingandsimulationofaselfpropelledwrappingpackagingrobot AT huyakai kinematicsmodelingandsimulationofaselfpropelledwrappingpackagingrobot AT wangliangwen kinematicsmodelingandsimulationofaselfpropelledwrappingpackagingrobot AT liuxuling kinematicsmodelingandsimulationofaselfpropelledwrappingpackagingrobot AT jingxiaodi kinematicsmodelingandsimulationofaselfpropelledwrappingpackagingrobot |