Kinematic Analysis of Concrete Hydraulic Dismantling Mechanical Arm

Abstract

Kinematics analysis of concrete hydraulic dismantling mechanical arm is an important of researching concrete hydraulic dismantling robot's movement and its controller design. The concrete hydraulic dismantling mechanical arm was taken as the research target. The connection rod coordinate system of the mechanical arm was established with D-H rule and the kinematic analysis of mechanical arm was finished. Using Adams to carry out kinematics simulation analysis of the model, thus obtained motion envelope diagram of the mechanical arm, measured the displacement, velocity and acceleration curve of the mechanical arm spray gun ends. The correctness of theoretical analysis was verified. Combined with theory and simulation, analyzing the pose and motion condition of mechanical arm spray gun ends in the actual situation, provides a theoretical basis for the trajectory planning and control of the terminal mechanical arm.