Design and Performance Analysis of Hydraulic Manipulator Arm with Righting Joints
In the production process of nuclear industry,the lifting and transporting of nuclear waste drums are crucial.Aiming at the long-distance righting and lifting operation of nuclear waste drums,a hydraulic arm with righting joints adapted to the radioactive environment is proposed to realise the long-distance righting and lifting of nuclear waste drums.Combined with the virtual prototype,simulation experiments are carried out on the designed hydraulic arm with righting joints,and the joint performance of the arm is analysed.The results show that under the motion planning of the simulation experiment,the thrust force of the linear hydraulic cylinders of the base of the designed righting joint hydraulic robot arm and the big arm,and the big arm and the small arm are 347.05 kN and 453.61 kN,respectively,which can meet the requirements of righting and lifting of nuclear waste drums,and it is of great value for guaranteeing the production of nuclear safety.
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