Mechanical design and kinematic performance evaluation of a mobile material transfer robot
Zhang, Siyu (2026)
Kandidaatintyö
2026
School of Energy Systems, Konetekniikka
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2026051948319
https://urn.fi/URN:NBN:fi-fe2026051948319
Tiivistelmä
In response to the demand for automated material handling in indoor storage environments, this paper designs a mobile material transfer robot. The robot mainly consists of a mid-mounted differential drive chassis, a support frame, a three-axis motion mechanism, and a grasping system, capable of performing basic operations such as moving, lifting, positioning, and grasping material boxes.
This paper uses SolidWorks to establish a three-dimensional model and complete the selection and calculation of the drive motor for the chassis. Meanwhile, the finite element method is employed to conduct static analysis on key components such as the chassis, support structure, and lifting mechanism. The results show that the stress and deformation of each component under typical loads meet the design requirements, and the structure has good reliability. Kinematic analysis indicates that the robot has good steering ability and end position adjustment capability. Overall, the design has a reasonable structure and clear functional zoning, which can meet the basic requirements of indoor material handling tasks and provide a mechanical structure foundation for subsequent intelligent control.
This paper uses SolidWorks to establish a three-dimensional model and complete the selection and calculation of the drive motor for the chassis. Meanwhile, the finite element method is employed to conduct static analysis on key components such as the chassis, support structure, and lifting mechanism. The results show that the stress and deformation of each component under typical loads meet the design requirements, and the structure has good reliability. Kinematic analysis indicates that the robot has good steering ability and end position adjustment capability. Overall, the design has a reasonable structure and clear functional zoning, which can meet the basic requirements of indoor material handling tasks and provide a mechanical structure foundation for subsequent intelligent control.