Kinematic analysis of intelligent petrochemical fluid handling arm

In view of the low degree of automation of fluid transfer device in China's petrochemical industry, this paper designs and develops an intelligent fluid transfer operator arm instead of manual operation and draws its three-dimensional model based on the common structure type of land-based fluid loading and unloading arm in the current market. The kinematic model of the arm was developed based on the Denavit-Hartenberg method, and the forward and inverse kinematics were analyzed; then the Jacobi matrix of the arm was obtained based on the chi-square transformation matrix and vector product method. Finally, the positive kinematic simulation was carried out by using the Robotics Toolbox toolkit in Matlab software, and the conclusion that the linkage coordinate system established by the D-H method is consistent with the actual structure of the manipulator arm in this paper.