Kinematic Analysis of Concrete Hydraulic Dismantling Mechanical Arm

DOI

10.2991/icimm-15.2015.227How to use a DOI?

Keywords

Hydraulic dismantling; Mechanical arm; Kinematic analysis; Simulation

Abstract

Kinematics analysis of concrete hydraulic dismantling mechanical arm is an important part of researching concrete hydraulic dismantling robot’s movement and its controller design. The concrete hydraulic dismantling mechanical arm was taken as the research target. The connection rod coordinate system of the mechanical arm was established with D-H rule and the kinematic analysis of mechanical arm was finished. Using Adams to carry out kinematics simulation analysis of the model, thus obtained motion envelope diagram of the mechanical arm, measured the displacement, velocity and acceleration curve of the mechanical arm spray gun ends. The correctness of theoretical analysis was verified. Combined with theory and simulation, analyzing the pose and motion condition of mechanical arm spray gun ends in the actual situation, provides a theoretical basis for the trajectory planning and control of the terminal mechanical arm.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jianhui Peng
AU  - Sanpeng Deng
AU  - Dehua Miao
AU  - Jiayu Li
PY  - 2015/07
DA  - 2015/07
TI  - Kinematic Analysis of Concrete Hydraulic Dismantling Mechanical Arm
BT  - Proceedings of the 5th International Conference on Information Engineering for Mechanics and Materials
PB  - Atlantis Press
SP  - 1263
EP  - 1266
SN  - 2352-5401
UR  - https://doi.org/10.2991/icimm-15.2015.227
DO  - 10.2991/icimm-15.2015.227
ID  - Peng2015/07
ER  -