Computational algorithm for evaluating gravitational and inertial loads acting on an industrial robot for palletizing operations

Roxana-Mariana NECHITA; Cozmin CRISTOIU; Mihai MĂRGĂRITESCU

doi:10.24193/subbeng.2024.1.2

Authors

Roxana-Mariana NECHITA National Institute of Research and Development in Mechatronics and Measurement Technique, Bucharest, Romania, roxana.nechita2000@gmail.com (*corresponding author) https://orcid.org/0009-0004-7556-5572
Cozmin CRISTOIU National University of Science and Technology Politehnica Bucha-rest, Faculty of Industrial Engineering and Robotics, Bucharest, Romania, Cozzy Technologies SRL Pitesti, Romania cozmin.cristoiu@upb.ro https://orcid.org/0000-0001-9716-1908
Mihai MĂRGĂRITESCU National Institute of Research and Development in Mechatronics and Measurement Technique, Bucharest, Romania, mihai.margaritescu@gmail.com https://orcid.org/0000-0002-1831-4177

DOI:

https://doi.org/10.24193/subbeng.2024.1.2

Keywords:

industrial robot, optimal structure, calculus algorithm, palletizing, unfavorable position

Abstract

This paper introduces a computational algorithm designed to calculate the gravitational and inertial loads affecting a four-axis numerically controlled (NC) industrial robot (IR) used in palletizing operations. The methodology includes the development of precise calculation models that account for the dynamic interactions between the robot’s mechanical components and its operational environment. These models enable the accurate determination of load distributions and stresses on each axis, which are critical for optimizing the robot’s performance and ensuring reliable operation under various loading conditions. The algorithm can be applied to the optimization and refinement of existing robotic systems, as well as to the design of new robots tailored for specific industrial applications.

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