Kinematic Analysis and Control of the Handling Robotic Arm

Abstract

In terms of automated handling of heavy objects, ropes or steel cables are currently commonly used for lifting and handling. This method requires operators to constantly assist in adjusting their posture, which is not efficient and poses certain risks to operators. For this purpose, the research group has designed a six degree of freedom hydraulic robotic arm for automatic handling of a 400kg object. Firstly, the kinematic model of the robotic arm was established using the D-H parameter method. Based on the results of kinematic analysis, the workspace image of the robotic arm was drawn using Monte Carlo method. The Simulink simulation model was established, and trajectory planning simulation based on Cartesian space was conducted on the robotic arm. The simulation results were consistent with the calculation results, verifying the correctness of the kinematic model and trajectory planning algorithm of the robotic arm. Subsequently, trajectory planning experiments were conducted on the robotic arm prototype, the results showed that the robotic arm could complete the operation of the planned trajectory within 20 seconds, the automatic operation process was continuous and smooth.