Kinematics simulation analysis of hemodialysis pipeline outer box palletizing robot

Abstract

Using a palletizing robot to replace the manual handling of the outer box of the hemodialysis pipeline, a six-joint series virtual prototype of the robot was established, and the kinematics of the six-joint motion drive of the palletizing robot was analyzed. The results show that the displacement and velocity curve of the robot end-effector is obtained through simulation, and its change is stable and there is no sudden change. The motion state of the end effector during the movement and handling of the depalletizing robot is clarified, which provides a theoretical basis for robot trajectory planning and dynamic analysis, and also provides relevant basis for the implementation of subsequent plans, robot programming, and prototype testing.