Modeling of TCM packing robot and its kinematics simulation and optimization

The parallel packing robot has the advantages of high rigidity, strong carrying capacity and high precision, and Delta robot is a type of parallel robot. The TCM (traditional Chinese medicine) packing robot system is designed based on the Delta structure, which can be used in the packing of TCM products such as protein powder. The classic “door” shape trajectory planning is conducted in accordance with the packing product, a 3D model is built for the product, and related kinematics simulation and analysis is also conducted. Through kinematics simulation in ADAMS, we obtain its movement trajectory, and the obtained result is consistent with that of theoretical calculation.