Design and Simulation of Immersing and Palletizing Robotic Manipulator for the De-NOx Catalyst Production Line

Abstract

On the DE-NOx catalyst production line, a kind of robotic manipulator is needed, which can pick up the workpiece from the V slots onto the production line, and send it to the designated location to immerse, then transport it to the packing location to palletize. This paper mainly discussed the overall design of the robotic manipulator and its correlation analysis. Firstly, the paper carries out the general design of the robotic manipulator according to the production requirements. Secondly, in order to verify whether the singular points exist in motion space and the motion space covers the workspace, with Monte Carlo method [1], the motion space is generated in Matlab. Finally, the kinematics simulation of the robotic manipulator is implemented to confirm the rationality of the robotic manipulator structure in the Adams environment.