Kinematics Analysis of Mechanical Arm of a Ten-Joint Tunnel Arch Installation Trolley

At present, the installation of steel arch centering is still completed by manual operation of trolley mechanical arm with low degree of automation. Kinematics analysis is one of the key technologies to realize automatic installation of supporting steel arch for multi-joint and heavy-load arch-centering manipulator. Through the D–H method, the link coordinate system of the trolley manipulator was established, the transformation matrix between the joints was obtained, the forward kinematics model was established, and the initial position and pose of the grab at the end of the manipulator were determined. According to the pose requirements of arch installation for the manipulator end grips, the Jacobian matrix was reconstructed, the inverse kinematics algorithm was written, and the inverse kinematics solution of the manipulator was obtained. On this basis, the motion path planning of the manipulator was completed, and the automatics positioning of the manipulator end grips was realized. The forward and inverse kinematics algorithms of the manipulator were verified by the simulated tunnel test, and the test results show that the accuracy of arch installation meets the requirements.