Motion Stability Analysis of Brick Packing Robotic Arms Based on the Parallel Mechanism

WANG Zhenyu; DENG Haishun; BAI Ruoyun; HUANG Zhixiang; HAN Tianqi

doi:10.19554/j.cnki.1001-3563.2026.07.015

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Packaging Engineering ›› 2026, Vol. 47 ›› Issue (7) : 125-131. DOI: 10.19554/j.cnki.1001-3563.2026.07.015

Automatic and Intelligent Technology

Motion Stability Analysis of Brick Packing Robotic Arms Based on the Parallel Mechanism

WANG Zhenyu, DENG Haishun^*, BAI Ruoyun, HUANG Zhixiang, HAN Tianqi

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Abstract

To address the issue of bricks falling or being damaged due to vibration in the existing brick packing robotic arm, the work aims to improve the motion stability of the robotic arm during the palletizing operation. The structure and working conditions of the brick packing robotic arm were analyzed, the motion equations of its parallel mechanism were derived, and its end posture maintaining characteristics were verified. Then, forward and inverse kinematic analyses of the brick packing robotic arm were carried out with the standard D-H parameter method. The shortest path planning simulation of the robotic arm was performed through MATLAB to obtain the time-varying patterns of joint displacements, velocities, and accelerations during the robotic arm's movement. Finally, the impact of trajectory planning on the gripping force of the gripper was analyzed. At the initial and final moments, the numerical values of the speed and acceleration curves of each joint of the robotic arm were all zero, with a continuous and smooth overall trend, and the change amplitude was gentle without drastic fluctuations. The total inertial force of the brick was 477.19 N, clearly less than the clamping force required for a single pair of main claws, 497.07 N. Performing shortest path planning for the robotic arm can avoid shock and vibration phenomena during the palletizing process, significantly improving the vibration stability and gripping reliability of the robotic arm during palletizing.

Key words

vibration / motion stability / parallel mechanism / trajectory planning

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WANG Zhenyu, DENG Haishun, BAI Ruoyun, HUANG Zhixiang, HAN Tianqi. Motion Stability Analysis of Brick Packing Robotic Arms Based on the Parallel Mechanism[J]. Packaging Engineering. 2026, 47(7): 125-131 https://doi.org/10.19554/j.cnki.1001-3563.2026.07.015

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