Palletizing Robot

Palletizing Robot

Robot Model

Palletizing robot in ABOVE elbow configuration

Coupling

In palletizing robot family there is a mechanical coupling between axes 2 and 3. The coupling matrix of the robot is defined by: $C={\begin{bmatrix}1&0&0&0\\0&1&0&0\\0&-1&1&0\\0&0&0&1\\\end{bmatrix}}$

Geometric parameters

For palletizing robot family geometrical parameters are defined by:

DH parameter	MC-Basic property name	Value in mm
a1	<robot >.link[1][1]	300
d2	<robot >.link[1][3]	334.5
a2	< robot >.link[3][1]	1280
a3	< robot >.link[4][1]	1350
a4	< robot >.link[5][1]	260
d5	< robot >.link[6][3]	-247

The above parameters of link matrix property of the robot must be filled-in in the robot’s setup file. In order that the system accepts the above setup the “configgroup” command must be executed. Note that only the above set of parameters affects the robot geometry, the rest of the link[][] and axis[][] values do not influence the robot geometry in any way and are not affected (changed) by configgroup command or any other robot command.

The rest of the DH parameters are predefined as follow and are automatically internally set by choosing the right group model.

Configuration

Elbow configuration flag is defined by:

• ABOVE - arm with respect to the shoulder coordinate system has negative coordinate value along the Y axis of the second segment
  
• BELOW - arm with respect to the shoulder coordinate system has positive coordinate value along the Y axis of the second segment