| The safety problem which the operators work with robots in the same workspace has been the main bottleneck of progress of the robotic technology. With the development of virtual constraint theory and the Cobot technology, this trouble can be solved.The paper emphasizes on the research of Nonholonomic Constraint Transmission(NCT) based on dual unilateral bearing which used in Cobot joints. In the paper a prototype has been developed with the general control scheme. The concrete content as follows:Firstly, according to virtual constraint theory, a NCT is designed which based on dual unilateral bearing. The paper explains the work principle and work mode of the NCT.Secondly, an experiment prototype with industry size is designed. The paper analyzes the kinematics of Cobot and derived the workspace and Jacobi matrix.Thirdly, the constraint dynamics of NCT is analyzed for its constraint and aid-power characteristics. According to simulation the reliability of NCT is feasible.Lastly, in terms of simulation results of joint characteristic and Cobot overall configuration a system control project is designed, which mainly includes the hardware, software and interface circuits of control system and so on. |
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