Kinematic Analysis and Three-dimensional Simulation of Rock Drilling Robotic Arm

In order to realize the accurate motion control of rock drill robotic arm, the kinematic analysis of the eight-degree-of-freedom rock drilling robotic arm is crucial. In this paper, we firstly establish the positive kinematic model of the rock drilling arm by standard Denavit-Hartenberg modeling method, and obtain the coordinate transformation matrix of the end of the arm relative to the base coordinate system. Secondly, combined with the actual working environment and working mode of rock drilling robotic arm, the kinematic constraints of the rock drilling arm are applied to the redundant multi-degree of freedom of the arm, and based on the inverse transformation method, the inverse kinematic analytical solution of the rock drilling arm is solved to obtain the joint values of the joints with the known end postures, which successfully realizes the accurate positioning of the rock drilling arm under complex working conditions. Finally, after the establishment of the three-dimensional model of the rock drilling arm, the three-dimensional simulation software of the rock drilling arm and cart is designed using WPF in order to realize the motion control effect of the rock drilling arm. Based on this, the accuracy of the positive and negative kinematics model is confirmed.