Workspace Analysis of CNC Load-Unload Material Robot

A 2P3R robot for CNC load-unload material was designed in self-creating. In the paper, the kinematics equation was established by D-H method. The mathematical model of robot pedestal, member bar and end effector was established. By numerical analysis method and collision detection algorithm, the workspace was analyzed and the collision-free cloud chart of pedestal, member bar and end effecter was got. These are theoretical basis for the robot control and path planning. The method is simple and intuitionistic, and pinpoint robot workspace edge was acquired. It has some reference value for other robot mechanism kinematics and workspace analysis.