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Dynamic modeling and simulation of sand core handling robot

The production process of robot castings mainly includes processes such as robot core taking, core assembly, core setting, dipping, pouring, sand casting, polishing, and cleaning. The handling process involves every process of the casting production line and is one of the key processes of the casting production line. For the 6-axis robot used for handling, the kinematics model of the robot is carried out according to the improved DH parameter method, and the dynamic model of the robot is established by using Newton-Euler equation and Lagrangian equation respectively. Secondly, according to the requirements of casting handling technology, the motion trajectory is planned according to the established kinematics model and dynamics model, and the dynamic simulation is carried out with MATLAB. The joint torques of the robot dynamic models established by the two methods are very close, which verifies the correctness of the dynamic model.