工程科学与技术2025，Vol.57Issue(2)：171-179,9.DOI:10.15961/j.jsuese.202300379
机器人液压机械臂运动性能分析与控制
Motion Performance Analysis and Control of Robotic Hydraulic Manipulator Arm
摘要
Abstract
Connecting and disconnecting water and gas pipes is essential to coal mine site construction.With the increasing demands for installa-tion quality,construction efficiency,and safety,traditional manual operation fails to meet construction requirements.This study analyzes the mo-tion performance and automatic handling control of a manually operated hydraulic robotic arm to achieve automated handling during pipe connec-tion and disconnection.First,the robot's linkage coordinate system is established using the Denavit-Hartenberg(D-H)method.The forward and inverse kinematics of the robot's manipulation and joint spaces are analyzed,and the mapping relationship between the robot's joint space and drive space is determined using a geometrical method,providing the velocity Jacobi analysis of the robot.Based on this analysis,workspace im-ages of the robot in common postures during actual operation scenarios are plotted in Matlab using the Monte Carlo method.The established mathematical model is implemented in Matlab,and the robotic arm is designed for path and trajectory planning.In addition,the robot's mechan-ism model is simulated and analyzed in SolidWorks Motion to verify the accuracy of the mathematical model and enhance the safety of prototype experiments.The Matlab and SolidWorks Motion simulation results are consistent,confirming the validity of the correctness of the robot kinemat-ic model and trajectory planning algorithm.The robot's mechanism motion simulation process is continuous and smooth.Finally,a test platform for the robotic pipe assembly and disassembly prototype system is built,and an automatic pipe handling test is conducted.The test results indic-ated that the robot successfully performs automatic handling during pipe connection and disconnection.The handling operation cycle is 12 seconds,improving operational efficiency compared to traditional manual operation.The automated handling process is continuous and smooth,resolving the jitter problem caused by repeated manual adjustments of the robotic arm.关键词
液压机械臂/运动学/工作空间/运动仿真/轨迹规划/机器人Key words
hydraulic robotic arm/kinematics/work space/motion simulation/trajectory planning/robot分类
信息技术与安全科学引用本文复制引用
叶增林,张良安,吴守鹏,孙洒,张丰丰..机器人液压机械臂运动性能分析与控制[J].工程科学与技术,2025,57(2):171-179,9.基金项目
安徽高校自然科学研究重点项目(2024AH051780) （2024AH051780）
安徽省优秀青年教师培育一般项目(YQYB2024100) （YQYB2024100）
安徽高等学校省级质量工程项目(2022xjzlts040) （2022xjzlts040）
