Kinematics Analysis of a Mobile 6-DOF Coal Sampling Robot

摘要

In order to solve the problem of automatic sampling of coal, this paper introduced the MCYY2000 6-DOF mobile coal sampling robot and analyzed its kinematics. This paper first introduced the mechanical structure of the 6-DOF sampling robot, then the forward kinematics equation of the sampling robot was established by the DH method. Next the interference situation of the sampling robot with coal containers in the sampling process was analyzed, and the judgment whether the interference exists or not was given. Finally the workspace of the sampling robot was analyzed by Monte Carlo method, and taking interference situations into consideration, the distance between the sampling robot and the coal containers should be within 5m was suggested. The work of this paper provides the basis of the follow-up sampling robot inverse kinematics solution and sampling path planning. And the method of studying the kinematic characteristics of coal sampling robot can also be applied to other kinematics analysis of robots.