Forward kinematics analysis and experiment of hybrid high-altitude board installation robot based on screw theory

Abstract

In order to meet the requirements of mechanization and automatic installation of high-altitude boards, a hybrid high-altitude board installation robot is designed. At the same time, a method based on screw theory is proposed to avoid the defects of kinematics analysis of robots using the traditional Denavit–Hartenberg parameter method. It is to construct a kinematic equation for the hybrid robot. According to the kinematics equation of the robot, the forward solution of the end-effector position is obtained. Besides, the workspace cloud image of the robot end-effector is worked out by MATLAB. By means of the equation to test the kinematics of the robot, the absolute error is 0.5 mm between the theoretical value and the actual value of the end-effector coordinate system position. It meets the national standard for board gaps. This study provides reference for subsequent research works on control technique and trajectory planning of the hybrid robot of high-altitude board installation.