【摘要】 为解决现有煤矿井下液压机械臂可控性差的问题，探讨应用电机驱动机械臂的方法，提出一种新型机械臂结构，以解决防爆电机过重对机械臂的影响。采用SolidWorks软件完成三维建模设计，利用MATLAB软件验证机械臂的工作空间，利用ADAMS软件在规定工况内进行动力学仿真，对关键零部件进行有限元分析、拓扑优化，实现轻量化设计。仿真结果表明：机械臂结构设计合理，为煤矿环境下的应用提供了理论基础和技术支持。更多还原

【Abstract】 To solve the problem of poor controllability of hydraulic robotic arms in existing coal mines,this paper explores the application of motor-driven robotic arms and proposes a new type of robotic arm structure to solve the impact of explosion-proof motors being too heavy on the robotic arm.Using SolidWorks software to complete 3 Dmodeling design,verify the workspace of the robotic arm using MATLAB software,conduct dynamic simulation within specified working conditions using ADAMS software,perform finite element analysis and topology optimization on key components,and achieve lightweight design.Simulation result shows that the structural design of the robotic arm is reasonable,providing theoretical basis and technical support for its application in coal mining environments.更多还原