Dynamical modeling and control model simulation of a self-propelled wrapping packaging robot

WANG Dongxia; WANG Ruolan; DING Shixing; DU Shuaifeng; JING Xiaodi; ZHANG Yuxiang

doi:10.16578/j.issn.1004.2539.2026.05.018

Abstract：[Objective]In order to achieve autonomous wrapping and packaging work,a new working mode of self-propelled wrapping packaging robot was proposed.Taking an automated guided vehicle(AGV)as the mobile platform,a mobile robotic arm was constructed by integrating a 6-degree-of-freedom robotic arm,equipped with a loading packaging film fixing devices,a film pulling frame and other mechanisms.[Methods]Based on the overall structure of the wrapping packaging robot,the working process of the mobile robotic arm for wrapping typical objects was analyzed,and a simulation was studied.When the wrapping packaging robot is in operation,the movement trajectory of the mechanical arm needs to meet the pull-out path of the wrapping packaging film,and the overall quality of the packaging material shows a decreasing characteristic.Based on establishing the kinematic model of the mobile manipulator by using modified Denavit-Hartenberg(D-H)method,the Newton-Euler method was applied to establish dynamic model for the robotic arm's operation,the control model for work process of the wrapping packaging robot was simulated by combining Adams and Simulink.[Results]The results of the combined simulation are compared with theoretical calculated values,which shows the average errors for the end-effector trajectory and the vehicle trajectory are within 1.33%and 0.57%,respectively,and the measured curves for torque,angle,and angular velocity are in good agreement with the theoretical values,which validates the correctness of the theoretical model.The feasibility of the relevant theoretical work is verified through wrapping packaging tests,providing important support for the practical application of the wrapping packaging robot.