Design and Kinematic Analysis of a Reconfigurable Robot for Inkjet Coding and Case Packing

GAO Yao; ZHAO Yaohong; GUO Wenxiao; ZHANG Yunfan; LI Ruiqin; NING Fengping

doi:10.19554/j.cnki.1001-3563.2025.15.025

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Packaging Engineering ›› 2025, Vol. 46 ›› Issue (15) : 222-229. DOI: 10.19554/j.cnki.1001-3563.2025.15.025

Automatic and Intelligent Technology

Design and Kinematic Analysis of a Reconfigurable Robot for Inkjet Coding and Case Packing

GAO Yao¹, ZHAO Yaohong^1*, GUO Wenxiao^1,2, ZHANG Yunfan¹, LI Ruiqin¹, NING Fengping¹

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Abstract

The work aims to propose a reconfigurable robot for coding and packing based on variable axis motion pair (vA pair), in view of the differentiated requirements of the degree of freedom of motion in the coding and packing processes of the packaging production line. The screw theory was employed to analyze the DOF characteristics of the mechanism under two operational modes. The closed-loop vector method was utilized to derive the inverse kinematics solutions for both modes, while the particle swarm optimization (PSO) algorithm was adopted to solve the forward kinematics. The Jacobian matrix was analyzed to evaluate the kinematic performance. The reachable workspace of the end-effector under both modes was investigated, and the dexterity was assessed through local conditioning indices. The results demonstrated that the mechanism achieved 2 rotations and 1 translation DOF (2R1T) in 2-RPS/UPU/UPS mode and 2 rotations and 2 translations DOF (2R2T) in 2-UPS/RPS/UPU mode, with a continuous and void-free workspace. In conclusion, in 2-RPS/UPU/UPS mode, the mechanism is suitable for product coding operations, while 2-UPS/RPS/UPU mode enables efficient packing tasks. This design significantly enhances production efficiency.

Key words

reconfigurable parallel mechanism / position forward and inverse solutions / workspace / dexterity / inkjet coding / case packing

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GAO Yao, ZHAO Yaohong, GUO Wenxiao, ZHANG Yunfan, LI Ruiqin, NING Fengping. Design and Kinematic Analysis of a Reconfigurable Robot for Inkjet Coding and Case Packing[J]. Packaging Engineering. 2025, 46(15): 222-229 https://doi.org/10.19554/j.cnki.1001-3563.2025.15.025

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