Kinematic analysis and simulation study of 5R robotic arm

Aiming at the danger of ore crushing in mining roadways, a 5R robotic arm configuration is proposed, with which a structural sketch is established and a kinematic model is built using the D-H parameter method as the research object. The robotic toolbox is used in MATLAB to establish the simulation model of the robotic arm, and its workspace and joint space trajectory are simulated and analyzed to obtain the working range of the end-effector of the robotic arm as well as the change curves of angular displacement, angular velocity and angular acceleration of the various joint axes with respect to time. It is found that the working range of the robotic arm can cover all regions of the ore distribution, and the angular displacement, angular velocity and angular acceleration curves in each joint space of the robotic arm are smooth, with no sudden change in stiffness, and the simulation results verify the reasonableness of the parameters of the designed robotic arm. The simulation results verify the reasonableness of the designed robotic arm parameters, and provide a theoretical basis for realizing the subsequent industrial control and trajectory planning of the robotic arm.