Analysis And Simulation Of Interference Region Of The Multi-Arm Robot Based On Virtual Platform

With the improvement of the complexity and intelligence of the spatial operational task, how to deal with the interference of the arms (i.e. the collision among arms) in cooperative work becomes a problem of modern industrial robot, which needs to be solved urgently. In the motion process of the Multi-arm robot, members of each arm would probably collide with each other, thus causing the inharmonious motion among the arms, and even breaking the robot itself. Therefore, examining the interference of each arm, planning the trajectory of the robot, determining the feasibility of the robot operation, and then reducing the contingency in practical operation process are very important parts in robot design and production.How to avoid and detect robot interferences has become a research hotspot, but most is mainly to interference research between members at a certain time of the robot operation process. It is not common for robot interference region research on space continuous movement. However, in the application of practical work, the end gripper of Multi-arm robot is often in a state of continuous movement. Therefore, it is significant practical meanings to solve the interference issue of the multi-ami robot by studying interference region among the members caused by the continuous movement of the ends. According to the current status, this paper discriminates the interference region among each member of the multi-arm robot specificly with paying sufficient attention to the continuous arbitrary movement of the ends in the three dimensional space and the shape of each member.This paper puts forward the concept of interference region of the multi-arm robot through comprehensive application of professional knowledge in position analysis, velocity analysis and trajectory planning of robotics. It also makes further research for the interference region of the multi-arm robot members. Firstly, on the premise of consideration to accuracy and the reduction of calculation capacity, simple R-geometrical model is applied to model simplification of each member of the dual-arm robot. Secondly, carry on the analysis of direct position and indirect position of the robot, give a description of differential motion of each joint and use the method of cubic polynomial interpolation in joint trajectory planning. Then, the discrimination method of interference and interference region for the arbitrarily relative motion of the two R-geometrical bodys in space at a certain time segment, as well as the concept of the non-interference region, the possible interference region and the interference region are also proposed on the basis of the method of interference discrimination at a certain time of the two R-geometrical bodys in space. Finally, the algorithmic flow chart of this method is given.This paper takes a 6-dof dual-arm robot as an example. With the trajectory of the robot ends, the attitude of the end-gripper and the time- position function as the given precondition, the mathematical model of interference region analysis is established and the calculation results is solved. The 3D modeling and assembling of the dual-arm robot is completed by using Pro/Engineer, which provide the accurate virtual 3D solid model for the motion simulation analysis. Meanwhile, with the use of the professional interface module named Mechanism/pro which is provided by MSC for Pro/Engineer and ADAMS, introducing the virtual prototype established by Pro/Engineer into ADAMS. Through setting necessary geometrical parameter and constraint condition, the simulation results are obtained by motion simulation analysis. The correctness and effectiveness of the interference region analysis method of the multi-arm robot proposed in this paper are verified.