Motion Characteristics Analysis and Realization of Hydraulic Drive Segment Assembly Machine

For the current situation of the intelligence, the level of the segment assembly process was lower than it was expected. This paper took the 6-DOFs segment assembly machine designed by Shandong Jiaotong University and Jinan Heavy Industries Group Co., Ltd., as an example and specified the difference between the 6-DOFs segment assembly machine and common 6-DOFs mechanical arms. The core work of the paper contained two aspects. Firstly, the paper analyzed the kinematics mechanism and pointed out the mechanism characteristics of the segment assembly machine which was driven by six hydraulic cylinders and two hydraulic motors. Secondly, for the relationships between the joint rotative angles and the displacement of the driving hydraulic cylinders being more complex and intricate than they were expected, the paper illustrated the reason why there was no analytical solution for this mechanism and provided a simple method to obtain numerical solutions.