Kinematic analysis and simulation of 6-DOF manipulator of transfer-drill-pipe device for automatic rig

In order to realize the unmanned operation of coal mine gas drainage drilling rigs and protect the safety of drillers in coal mines,the 6-DOF series rod manipulator of automatic drilling rig was studied.The composition and movement principle of the serial manipulator were analyzed and established.D-H coordinate system and kinematic equations were established.Through the inverse solution of the kinematics equation,the relationship between the position and inclination of the gripper end and the kinematics parameters of each component is obtained.By solving the Jacobian matrix,the relationship between the speed of the gripper tip and the movement speed of each joint is obtained.It provides a theoretical basis for the control module design.The simulation software ADAMS is used to simulate the mechanism and the manipulator grasps the movement curve of the drill pipe.This effectively validates the rationality of the structural design and the effectiveness of the kinematic analysis.Optimized design of module provides an important basis.