Design and Research of Eight-Degree-of-Freedom Heavy Manipulator

Abstract

In order to solve the problems of low automation and production efficiency in the process of replacing lining plate of large-scale mining mill, a self-propelled heavy-duty manipulator was developed by using virtual prototyping technology. Firstly, the overall scheme and key parts of the heavy manipulator are designed. Then, the kinematics mathematical model of the whole manipulator is established and the operation path and scope are planned. The results show that the heavy manipulator studied in this paper can efficiently complete the task of replacing the lining plate, and the workspace is a cuboid with a spherical surface around it.