Structural design and kinematic analysis of hybrid cable trench covers'installation robotic arm
ZHAO Haiwen
XIAO Haifeng
YANG Yongkang
ZHANG Yali
YANG Dong
Abstract：[Objective]Aiming at the problems of low mechanization,unstable quality,time-consuming and labor-intensive processes,as well as safety and quality hazards of manual cable trench cover installation,which are difficult to meet the construction needs of new prefabricated substations,a hybrid installation robotic arm was designed to improve installation efficiency and safety.[Methods]Firstly,an 8-degree-of-freedom hybrid robotic arm was designed,including a 5-degree-offreedom hydraulic-driven serial mechanism and a 3-SPS/S end parallel mechanism.Secondly,the kinematic characteristics of the serial and parallel mechanisms were analyzed separately,and the overall kinematic model was established by combination.Then,simulation analysis was carried out using Matlab software to verify the model accuracy.Finally,the workspace of the robotic arm was calculated by the Monte Carlo method.[Results]Research findings demonstrate that the kinematic model errors of the serial and parallel mechanisms both meet the precision requirements,the workspace range of the robotic arm is suitable for the cable trench cover installation scenario,and its structural design and kinematic model can meet the actual installation needs.
Keywords：Installation of cable trench coversHybrid robotic armStructural designKinematicSimulation analysisWorkspace
Publication Date：2026-04-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 74-81,111 )