Kinematics modeling and simulation of a self-moving wrapping robot based on ellipsoidal item packaging
JING Xiaodi
WANG Liangwen
WANG Dongxia
WANG Ruolan
WU Zhenzhen
DU Shuaifeng
Abstract：[Objective]To achieve efficient and automated packaging of special-shaped items,a self-moving wrapping robot system integrated with automated guided vehicle(AGV)and 6-degree-of-freedom manipulator was designed for the wrapping needs of ellipsoidal items,aiming to improve trajectory planning accuracy and motion control performance in complex surface packaging.[Methods]Firstly,the kinematics model of the mobile manipulator system was established.Secondly,the trajectory planning principle that the film outlet surface of the film drawing frame was always parallel to the tangent plane of the item surface was proposed.Then,taking the ellipsoid as an example,the dynamic contour generatrix equation and tangent plane construction method were derived,and the manipulator joint angles and AGV pose were solved by combining inverse kinematics.Finally,a simulation system was developed in Matlab software,and the trajectory rationality was verified by Adams software.[Results]The simulation results show that the proposed method can achieve continuous and stable winding of the ellipsoid,with smooth joint angle displacement curves of the manipulator and good agreement between the end-effector trajectory and the theoretical path,thus verifying the feasibility and control reliability of the system in packaging special-shaped objects.The calculation and simulation results show that the proposed robot can achieve autonomous winding packaging of ellipsoidal items.Support for the practical application of this type of winding robot is provided by the relevant research.
Keywords：Packaging robotWrapping packagingEllipsoidal item packagingMobile robot armKinematics modeling
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 129-137 )