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| Structure Design and Trajectory Planning of Express Carton Splitting Manipulator#br# |
| PING Yanxing1,ZHANG Yixin* ,DU Haichao,SONG Januo
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| (School of Mechanical Engineering, Beihua University, Jilin City 132022, China) |
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Abstract To address the needs of robotic arms in express package dismantling mechanisms, this study investigates the structural design of robotic arms. By employing an improved D-H parameter method, a corresponding joint coordinate parameter table is established. A related robotic arm model is built using MATLAB, and the correctness of its operation is verified through forward and inverse kinematics analysis. The Monte Carlo method is applied to analyze the working space of the robotic arm. Trajectory planning for relevant tasks is carried out in both joint space and Cartesian space, simulating the actual motion of the robotic arm. Additionally, the angles, angular velocities, and angular accelerations of each joint are analyzed for rationality, confirming the feasibility of the robotic arm's cutting motion trajectory.
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Published: 09 April 2025
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