Design of Palletizing Robotic Arm Based on Mobile Chassis

With the continuous development of logistics, food, and chemical industries, palletizing robots are playing an increasingly important role. According to different working environments, the end effector of robots can have various changes. Installing corresponding mechanical arms on the wrist can achieve the functions of grabbing and palletizing bagged, box shaped, inhalable, and barreled goods [1]. However, in the field of agriculture, the working environment of palletizing robots has changed, and palletizing robots are still affected by factors such as limited working space and uncertainty in the location of picking up items in complex environments like vegetable greenhouses, requiring a large amount of labor to pick up and handle vegetable baskets [2]. In response to this issue, the text proposes a design scheme for the mechanical structure system of a palletizing robot. This scheme is based on an all terrain mobile chassis and mainly involves the allocation of degrees of freedom for the robotic arm, as well as the design of the column, upper arm, lower arm, and gripping mechanism, with the aim of increasing the stability, safety, and practicality of the palletizing robot. This article uses Soildworks to design the key mechanical structure of the robotic arm, MATLAB to solve the forward and inverse kinematics of the robot, and to solve the workspace of the robotic arm. This design scheme can to some extent achieve the grabbing and handling of vegetable baskets, improving production efficiency.