Design of Hydraulic Heavy-Duty Robotic Arm for Cable Duct Laying

For the heavy-duty handling and assembly of cable ducts, a six-degree-of-freedom hydraulic heavy-duty manipulator is designed. Firstly, the basic working conditions of the hydraulic heavy-duty manipulator were analyzed, the design requirements of the power system of the hydraulic heavy-duty manipulator were determined, the three-dimensional model of the hydraulic heavy-duty manipulator was established by using SolidWorks, and the design scheme of the gripper was briefly expounded. The torque of each joint is calculated by the load of the clamping part of the jaw, and the relevant parts are determined, and the model of the power element that drives each joint is determined. Additionally, the parameters of hydraulic pump are calculated and analyzed in this paper. The dynamic performance index of the manipulator was determined through the analysis of each cylinder, and a theoretical basis was provided for the subsequent control system design. All analyses indicate that the proposed hydraulic heavy-duty robotic arm is effective and feasible.