Kinematic analysis of intelligent petrochemical fluid handling arm

Abstract

In view of the low degree of automation of fluid transfer device in China's petrochemical industry, 
 this paper designs and develops an intelligent fluid transfer operator arm instead of manual 
 operation and draws its three-dimensional model based on the common structure type of 
 land-based fluid loading and unloading arm in the current market. The kinematic model of the 
 arm was developed based on the Denavit-Hartenberg method, and the forward and inverse 
 kinematics were analyzed; then the Jacobi matrix of the arm was obtained based on the 
 chi-square transformation matrix and vector product method. Finally, the positive kinematic 
 simulation was carried out by using the Robotics Toolbox toolkit in Matlab software, and the 
 conclusion that the linkage coordinate system established by the D-H method is consistent with 
 the actual structure of the manipulator arm in this paper.