Structural Design and Kinematic Analysis of an Eight-Degree-of-Freedom Heavy-Duty Aviation Plug Automatic Alignment Robotic Arm

This study addresses the growth of modern industrial demand for heavy-load arm technology, especially for the application of heavy-load automatic intermediate arm, and the application of heavy aviation plug. The mechanical arm is driven hydraulically and can achieve accurate positioning function, mainly including multi-stage folding main arm, microcontrol head, visual identification device, hydraulic pump station and control system. The design takes into account the uncertainty and complexity of the field working environment and adapts to the changeable operation requirements by improving the positioning accuracy. In the study, the main parameters of the mechanical arm were calculated and determined, including rod length, hydraulic motor selection, rotary drive and calculation selection of hydraulic pump and motor, to ensure the rationality and feasibility of the design.3 D modeling and assembly using Solidworks software and mechanical analysis and simulation validation by ANSYS software. Furthermore, this study explored the Cartesian spatial trajectory planning of robotic arms, including linear interpolation and arc interpolation methods, to verify the accuracy of trajectory planning by MATLAB simulation. Finally, the research is not only theoretically significant, but also has significant economic and social benefits in practical production.