Selection of Motors and Gear Reducers for Four-Axis Palletizing Robots Considering the Motion Characteristics and Dynamic Coupling Effect

Selecting appropriate motors and gear reducers for industrial robots considering operational requirements, lifespan, and price is a critical aspect of production automation design. Four-axis palletizing robots are commonly used for material handling in industrial automation, but their complex structure, which includes two parallelogram mechanisms, makes motor and gear reducer selection challenging for these robots. To address this challenge, a practical method for selecting these components based on dynamic analysis using ADAMS software is proposed here. The study considers the dynamic coupling effect between moving robot arms by simulating two conditions: independent motion of each robot axis and simultaneous motion of all robot axes. The analysis provides various torques, such as peak and RMS torque, for each axis, allowing the specification of the motors and reducers to be determined. The feasibility of the proposed method is also evaluated by assessing the suitability of the tentatively selected motor and gear reducer specifications. Therefore, the proposed method can be utilized in the initial design or verification stage of a robot with complex structures.