标题：Analysis of the Movable Cotton Robot Palletizer Working Space Based On Graphing Method
作者：Hou, Rongguo; Gao, Jun; Li, Zhiyong; Wang, Shijun; Zhao, Guoyong
作者机构：[Hou, Rongguo; Gao, Jun; Li, Zhiyong; Wang, Shijun; Zhao, Guoyong] Shandong Univ Technol, Sch Mech Engn, Zibo 255049, Peoples R China.
会议名称：10th Asia-Pacific Conference on Materials Processing (APCMP 2012)
会议日期：JUN 14-17, 2012
来源：ADVANCES IN MATERIALS PROCESSING X
关键词：Movable Cotton Robot Palletizer; Working Space; Graphing Method
摘要：the robot working space is the volume which a reference point on its wrist to be reached. It is an important evaluation index of the robot geometry characters. Firstly, the size of the movable cotton robot palletizer structure is calculated by analyzing its movement, then, its working space is calculated base on graphing method. This method is working as these: a referent point P on the wrist is selected, the space of it reaching will be the volume which is the movable cotton robot palletizer working space, by fixing a limiting position at a robot wrist, the reference point P on the total working space XOY is analyzed by drawing, the geometrical analysis and calculation method are used to acquire the motion curve equation, within XOY plane, the movement of the wrist and two slides is decoupling to calculate the limiting position of the robot wrist movement, at the end, the final movement space of the robot is determined.