Intelligent garbage picking robot arm structure design and trajectory planning

Public places have a high flow of people and generate a lot of garbage. In order to protect the public place and its surrounding environment, a four-degree-of-freedom robotic arm was designed. The overall modeling design of the robotic arm was completed in Solidworks, the mechanical analysis was performed using Matlab, the motor selection calculation was completed, and the kinematic analysis and trajectory planning of the robotic arm were performed. Then, ANSYS was used to analyze the transient state of the arm of the robot arm. By analyzing the deformation of the arm body under the maximum acceleration generated during operation, the material selection and structural design of the arm body were ensured to meet the requirements, which provided the basis for the optimization of the arm body.