Abstract:Kinematic analysis of concrete hydraulic demolition manipulator is an important part of the design of movement and controller design of concrete hydraulic demolition robot. The hydraulic manipulator of concrete is taken as the object of research. The manipulator connecting rod coordinate system was established by the D-H rule, and the kinematics analysis of the manipulator was completed. Kinematic analysis of the model was carried out by using ADAMS, and the kinematic envelope of the manipulator was obtained. The displacement, velocity and acceleration curves of the end of the manipulator gun were measured. The correctness of the theoretical analysis was verified. Combined with the theoretical analysis and simulation, the attitude and motion of the end of the manipulator lance are analyzed, which provides a theoretical basis for trajectory planning and control of the end manipulator.