Kinematics simulation of temperature measuring robot for steelmaking furnace

Abstract

Aiming at the temperature measurement in the refining process, a temperature measurement robot that can go deep into the furnace for temperature measurement is designed. Based on the D-H parameter modeling method, the kinematics of the manipulator is modeled, and the forward and inverse kinematics of the manipulator are solved. The workspace of the manipulator is simulated by Monte Carlo method on MATLAB, and the joint trajectory of the manipulator is planned by using Robotics Toolbox. The angular displacement, angular velocity and angular acceleration curves of each joint are obtained through simulation. The simulation results show that the manipulator runs smoothly and continuously, meeting the requirements of kinematics.

Keywords

• steelmaking
• furnace
• mechanical arm
• kinematic analysis
• trajectory planning