Modelling and Dynamic Simulation of Palletizing Robot System Based on Multibody

In order to solve the problems of lack of port for motion planning and motion control, difficulty of changing kinetic parameters depending on the robot structure, and lack of visualization ability of kinetic simulation in the conventional modeling and simulation of palletizing robots, a hybrid 4-axis multi-joint palletizing robot system modeling method is designed and simulated. The kinematic analysis of the palletizing robot is carried out, the MBS model of the robot is created using Simscape, the motion trajectory is planned, and the dynamics simulation is carried out to verify the correctness of the system model. The experimental results show that the system model has better adaptability and functionality than conventional modeling and simulation methods, and can provide a complete R&D platform for the design of similar robots and the study of control algorithms, which is of good scientific significance.