| With the development of science and technology,robots have been widely used in industrial sites,space exploration,social services and other occasions,and dual-arm robots have greater workload capacity and complex assembly with strong adaptability than the single-arm robots,also has good stability in the object handling,and can accomplish many tasks that can't be completed by single-arm robots,become a research hot spot gradually.In this project,a dual-arm robot with double SCARA robots is used as an experimental platform to study kinematic modeling and algorithm,dynamics modeling of dual-arm robot,and optimal trajectory planning algorithm based on dynamic constraints.The specific research contents are as follows:Aiming at the coordinated movement mode of dual-arm robot,this paper presents a new coordinate system transformation method.Firstly,the kinematic equation of single-arm SCARA robot is deduced by DH algorithm.Then,the coordinate system of the dual-arm robot is set up to coordinate the handling of the workpiece and the dual-arm robot.The trajectory of the end of the main manipulator is obtained according to the planned workpiece trajectory.According to the actual joint angles and handling of the joints of the main manipulator,The trajectory of the workpiece solves the trajectory of the slave arm.The natural quadratic complement method was used to model the dynamics of a single-arm SCARA robot,and its dynamic equation was solved.Then based on its one-arm dynamics,the dynamic modeling method of the dual-arm SCARA robot is given by Udwadia-Kalaba equation.The optimal time trajectory planning method for single-arm robot based on kinematic constraints is studied.Taking SCARA robots handling mobile phone case as an example,the fifth-order polynomial curve of the optimal time for each joint to satisfy the dynamic constraint is solved.Built a dual-arm robot simulation platform,the second chapter kinematics modeling and the fourth chapter trajectory optimization algorithm was verified. |
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