Modeling, trajectory planning, and rhythm analysis of a six-axis stacking robot

LI Peixing; ZHU Zina; LAI Leijie

doi:10.12299/jsues.24-0031

Volume 39 Issue 1

May 2025

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LI Peixing, ZHU Zina, LAI Leijie. Modeling, trajectory planning, and rhythm analysis of a six-axis stacking robot[J]. Journal of Shanghai University of Engineering Science, 2025, 39(1): 1-6. doi: 10.12299/jsues.24-0031

Citation:

LI Peixing, ZHU Zina, LAI Leijie. Modeling, trajectory planning, and rhythm analysis of a six-axis stacking robot[J]. Journal of Shanghai University of Engineering Science, 2025, 39(1): 1-6. doi: 10.12299/jsues.24-0031

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Modeling, trajectory planning, and rhythm analysis of a six-axis stacking robot

doi: 10.12299/jsues.24-0031

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2024-01-29
Publish Date: 2025-05-19

Abstract

Abstract

The kinematics and dynamics modeling method for a six-degree-of-freedom stacking robot using Matlab was proposed, as well as stacking trajectory planning and rhythm analysis methods. The improved D-H method was employed to establish coordinate systems and transformation matrices for robot links, followed by the contruction of a simulation model through robot toolbox in Matlab. Trajectory planning and operational rhythm analysis were conducted according to different pallet patterns and stacking postures, which enabled a comprehensive evaluation of trajectory parameters, rhythm time, efficiency and other parameters. Based on the parameters of the mass, moment of inertia, and center of mass of each link of the designed robot, a dynamics model of the robot was established in Matlab for numerical analysis to obtain the torque curves of each joint. Simulation results demonstrate that the motion characteristics of the robot during palletizing operations can provide critical references for mechanical structure design and key component selection.
- stacking robot,
- Matlab software,
- kinematics,
- trajectory planning,
- rhythm analysis,
- dynamics

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References(12)

References

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