Motion Performance Analysis and Control of Robotic Hydraulic Manipulator Arm

Connecting and disconnecting water and gas pipes is essential to coal mine site construction. With the increasing demands for installation quality, construction efficiency, and safety, traditional manual operation fails to meet construction requirements. This study analyzes the motion performance and automatic handling control of a manually operated hydraulic robotic arm to achieve automated handling during pipe connection and disconnection. First, the robot’s linkage coordinate system is established using the Denavit–Hartenberg (D–H) method. The forward and inverse kinematics of the robot’s manipulation and joint spaces are analyzed, and the mapping relationship between the robot’s joint space and drive space is determined using a geometrical method, providing the velocity Jacobi analysis of the robot. Based on this analysis, workspace images of the robot in common postures during actual operation scenarios are plotted in Matlab using the Monte Carlo method. The established mathematical model is implemented in Matlab, and the robotic arm is designed for path and trajectory planning. In addition, the robot’s mechanism model is simulated and analyzed in SolidWorks Motion to verify the accuracy of the mathematical model and enhance the safety of prototype experiments. The Matlab and SolidWorks Motion simulation results are consistent, confirming the validity of the correctness of the robot kinematic model and trajectory planning algorithm. The robot’s mechanism motion simulation process is continuous and smooth. Finally, a test platform for the robotic pipe assembly and disassembly prototype system is built, and an automatic pipe handling test is conducted. The test results indicated that the robot successfully performs automatic handling during pipe connection and disconnection. The handling operation cycle is 12 seconds, improving operational efficiency compared to traditional manual operation. The automated handling process is continuous and smooth, resolving the jitter problem caused by repeated manual adjustments of the robotic arm.