Research on the design and motion characteristics of an intelligent inspection robotic arm

In view of the explosives storage warehouse with many obstacles, a complex environment, and extremely important safety, an intelligent inspection robotic arm with multiple degrees of freedom was designed to complete the 24-hour uninterrupted inspection operation of the warehouse. The robotic arm is driven by a hydraulic cylinder to realize a composite inspection action integrating sliding, rotating, swinging, and telescoping. On the basis of the robotic arm, the kinematic reasoning of the intelligent inspection robotic arm was carried out, and the attitude motion model of each joint of the robotic arm was established. Then, the Monte Carlo calculation method was used to obtain the working space of the intelligent inspection robotic arm. Finally, the experimental control system of the robotic arm was built, and the independent joint response experiment of the robotic arm was carried out. The experimental results show that each independent joint has a high operation response speed, and the expected angle of each joint is basically the same as the actual angle, which can successfully complete the warehouse inspection operation and ensure the safety of warehouse storage.