Design of a small material handling robot gripping and storage system. Issue 1 (1st December 2022) - Liu, Zhuoran
Abstract: This paper completed the development status and working principle of the handling robot, analyzed the performance index parameters and system functional requirements of the robot, and proposed an overall design scheme of the handling robot control system. The mechanical structure design of the handling robot was developed, and the selection of the core components of the system was studied and designed in detail based on theoretical analysis and calculation. Secondly, this paper selected the STM32 microcontroller as the core of the handling robot. It completed the circuit schematic diagram of the systems, and investigated the selection of core sensors for the navigation and positioning module, obstacle avoidance module, and wireless communication module. Finally, this paper studied the automatic control part of the handling robot, which mainly included the modeling of the robot's manipulator, PID control, and MATLAB simulation verification. In addition, the application prospect of the handling robot was explored. It had the advantages of high efficiency, strong practicability, and perfect function, and had certain practical significance in the application of the logistics industry.