Kinematics modeling and analysis of deep-sea hydraulic manipulator

In order to verify the rationality of a self-designed 6DOF deep-sea hydraulic manipulator, this paper uses the D-H method to design the kinematics model, analyzes the forward kinematics and inverse kinematics of the manipulator, and verifies the accuracy of the kinematics model of the manipulator by using MATLAB. In addition, the working space of manipulator is analyzed based on Monte Carlo method, and cloud point diagram of manipulator workspace is obtained. The results show that the parameters of the self-designed manipulator are reasonable and the workspace is intuitive and accurate. This paper provides a reference and theoretical basis for the research of manipulator control algorithm and trajectory planning.