Kinematics Of Double-arms & Hands Mobile Robot And Its Control Simulation Research In Spatial Truss Structure

Mobile robot technology is one of the hot studies nowadays. Along with the continuously deeper research, the robots are required to be able to adapt many complicated environment and have certain spatial comprehensive move ability. Facing tower and spatial truss such unconscious medium applied environment, multiple mobile manner double-arms & hands mobile robot which can walk on the ground, travel and speel in the spatial truss freely and the total fabrication is put forward. The paper begins its study on the above spatial truss in which the robot can work. The purpose of the study is to supply kinematics theory and design basis for the mobile robot which work for the examination and maintenance of spatial truss and tower, and the study has important theoretical and practical value.The paper summaries and analyzes the familiar pattern and structure of the robot paw structure. Combining the existed robot arm in the laboratory, the paper designs and manufactures the robot paw, which solve the structure problem and enable the robot to hold the truss pole of the square , angle iron or cylinder type firmly, improves the ability to adapt various truss structure. Besides, the paper designs the sectional spatial truss structure according to the request of the experiment environment.The paper presents many theories of eight-degree double-arms & hands mobile robot used in spatial truss, such as: the calculation of the end-paw pose, matrix switch of the positive kinematics, grads projection based on fake inverse matrix and resolution of inverse kinematics and task rule of joint limitation avoidance. Based on the theory of windows type obstacle avoidance of the manipulator, the paper implements the analysis of avoidance of spatial truss pole. Furthermore, the paper presents the program of speel motion and obstacle avoidance, and the calculation example is also presented.In order to verify the truth of the theory and accomplish the move virtual experiment of the double-arms & hands mobile robot used in spatial truss, according to the actual structure of double-arms & hands robot, the paper designs the 3-D virtual phototyping of the robot and spatial truss and implements the simulation of speel motion and obstacle avoidance in the software ADAMS, obtains the drive torque curve of the joints. The simulation result shows that: the actual mobile robot has enough torque to accomplish the operation of traveling in the spatial truss and obstacle avoidance, which supplies theoretical dependence for the further control experiment of the actual robot in the spatial truss. Based on the implementation wrong method, the paper designs and debugs the joints'controllers by use of the control system design elements in the software ADAMS, and simulation is implemented.