Research On Humanoid Dual-arm Cooperative Robot Design

Dual-arm robot can not only replace human for tedious repetitive operation, at the same time, they also can undertake complex collaboration in danger environment, and thus, they become the research hot topic. From the developing trend of the current, high integration of modular joint structure design and the movement of mechanical arm control are still a dual-arm robot research hot topic. Papers for the modular robot arms coordination that is current research hotspot issues, respectively from the high level of integration modular joint structural design, mechanical arm error source analysis and modeling, redundant kinematics and dynamics modeling and joint servo position control several aspects of research work. In this paper, the main research contents and results are as follows:(1) The redundant degree of freedom mechanical arm structure design. Further study the characteristics of arm structure and the redundant features, according to the characteristics of hollow joint design, and consider the wire inside and between the joint, winding etc. Designed four modular joints, and they were made by motor, harmonic reducer, absolute encoder, safety brake, drives, controller; Introduces in detail the structure design, component selection and layout of the electrical components installed; And processing and manufacturing the prototype joints; Based on the modular joints, designed with redundant degree of freedom mechanical arms robot ontology.(2) Mechanical arm error source analysis and modeling. Mechanical arm, the main source of error:error design, parts with tolerance, processing and assembling error are analyzed; the joint error and the error transfer were studied; on this basis, further study mechanical arm structure error, and this part of the analysis and calculation provide the theoretical data for the manipulator design and feedback system design.(3) Redundancy of kinematics, dynamics modeling and simulation analysis. Redundant DOF manipulator kinematics model is established, the kinematics of the positive solution and inverse solution are calculated; Redundancy is studied on the mechanical arm to avoid singularity, flexibility, optimization of the main movement tasks under the influence of auxiliary operation indicators, etc. Single joint and the manipulator dynamics model is established, the analysis of each joint force and driving torque, combined with the ADAMS software to obtain the simulation data, then the joints in selection of key parts such as motor, reducer.(4) Arms coordinated motion control operation. The manipulator trajectory planning for the end of the mathematical analysis, trajectory planning of manipulator with method of trigonometric interpolation; analysis of the constraints of the coordinated operation of arms, combined with its mechanical arm motion characteristics and control requirements choose the master-slave force position hybrid control, on the basis of the overall control structure schematic diagram to further analysis of mechanical arm movement, so as to realize his arms coordination operation.(5) Finally, the repeated positioning accuracy of the modular joint was tested; the results show that the developed four joints, in terms of accuracy and structure design have reached the requirement of use.