Kinematic analysis of a shotcreting robot

摘要

The shotcreting robot has 8 joints including 3 joints coupled with others on the shotcreting robot. This paper set up the Denavit-Hartenberg Frames and deduced the kinematic equations with extra three constrain equations to decouple the linked motions. The unique analytical solution of the inverse kinematic equations was educed, which provided foundation for further research on trajectory plan, dynamics analysis and control strategies.