Kinematic analysis of hydraulic manipulators for a disaster response robot

Abstract

This paper introduces an armored robot system with dual hydraulic manipulators for disaster response. To handle heavy things for an armored robot, dual hydraulic manipulators are suggested. For kinematic analysis of this mechanism, we set up the D-H parameters. To obtain the positions and orientations of the end-effector, forward kinematics is performed, and to control the end-effector, inverse kinematics is performed. Through simulations, the feasibility of the mechanism is demonstrated.