Forward Kinematics — Palletizing Robot (160 kg)
2-link planar FK for a palletizing robot (160 kg): TCP position and reach from joint angles and link lengths.
Palletizers are 4-axis by design — the wrist stays level mechanically — so the planar 2-link model is nearly their complete kinematics. With 2.35 m of links they reach a full 1,200×1,000 pallet stack from one base position; FK proves which layer corners are inside the envelope.
Formula
Note: Planning-level engineering estimate — final robot selection, guarding layout and risk assessment must follow the integrator's calculations and a documented ISO 12100/10218 risk assessment.
2-link planar FK for a palletizing robot (160 kg): TCP position and reach from joint angles and link lengths. A free industrial robot kinematics & cell design tool — no sign-up, no upload, instant results in your browser.
About Forward Kinematics — Palletizing Robot (160 kg)
Forward Kinematics — Palletizing Robot (160 kg) computes the governing relationship x = L₁cosθ₁ + L₂cos(θ₁+θ₂) · y = L₁sinθ₁ + L₂sin(θ₁+θ₂) live as you type. Palletizers are 4-axis by design — the wrist stays level mechanically — so the planar 2-link model is nearly their complete kinematics. With 2.35 m of links they reach a full 1,200×1,000 pallet stack from one base position; FK proves which layer corners are inside the envelope. Defaults are pre-filled with realistic values for this exact scenario, and the worked example substitutes your numbers step by step so the math is never a black box.
How to use Forward Kinematics — Palletizing Robot (160 kg)
- 1Enter your values — Link 1 length L₁, Link 2 length L₂, Joint 1 angle θ₁, Joint 2 angle θ₂ (sensible defaults are pre-filled).
- 2Read the live results: TCP X, TCP Y, Radial distance, Max reach.
- 3Check the "with your numbers" line to see x = L₁cosθ₁ + L₂cos(θ₁+θ₂) · y = L₁sinθ₁ + L₂sin(θ₁+θ₂) substituted step by step.
- 4Adjust inputs until the scenario matches yours, then copy or share the result.
Why use Forward Kinematics — Palletizing Robot (160 kg)?
- ✓Instant, free and private — every calculation runs client-side in your browser; nothing is uploaded
- ✓Built on the stated formula x = L₁cosθ₁ + L₂cos(θ₁+θ₂) · y = L₁sinθ₁ + L₂sin(θ₁+θ₂) with authoritative sources cited on the page (Craig, J., Introduction to Robotics: Mechanics and Control, 4th ed.; Siciliano & Khatib (eds.), Springer Handbook of Robotics, 2nd ed.)
- ✓Palletizers are 4-axis by design — the wrist stays level mechanically — so the planar 2-link model is nearly their complete kinematics.
- ✓SI ⇄ Imperial toggle converts your inputs in place, so you can work in the units your drawings use
Frequently asked questions
What formula does the forward kinematics — palletizing robot (160 kg) use?+
It evaluates x = L₁cosθ₁ + L₂cos(θ₁+θ₂) · y = L₁sinθ₁ + L₂sin(θ₁+θ₂), exactly as published. Sources: Craig, J., Introduction to Robotics: Mechanics and Control, 4th ed.; Siciliano & Khatib (eds.), Springer Handbook of Robotics, 2nd ed.. The substituted worked example on the page lets you verify every step against the textbook.
How should I read the result — and how far can I trust it?+
Palletizers are 4-axis by design — the wrist stays level mechanically — so the planar 2-link model is nearly their complete kinematics. Planning-level engineering estimate — final robot selection, guarding layout and risk assessment must follow the integrator's calculations and a documented ISO 12100/10218 risk assessment.
When is this calculator the right tool for the job?+
2-link planar FK for a palletizing robot (160 kg): TCP position and reach from joint angles and link lengths. A free industrial robot kinematics & cell design tool. With 2.35 m of links they reach a full 1,200×1,000 pallet stack from one base position; FK proves which layer corners are inside the envelope. For neighbouring scenarios, the related tools below cover the same engine with different presets.
Does it support both metric and imperial units?+
Yes — the SI ⇄ Imperial toggle converts the values already in the fields, preserving the physical quantity, so you can flip mid-calculation without re-entering anything.
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