Dynamics Modeling And Analysis Of Dual-arm Rescue Robot

With the development of science and technology,the dual-arm rescue robot has been invented to meet the requirements of many complex rescue missions.It can not only enhance the adaptability of robotics complex missions,but also improve the utilization rate of working space.In structure,the dual-arm rescue robot is a mobile robot by connecting a plurality of links and joints then carry on the vehicle.Because of the dual-arm rescue robot is a very complicated system;there are complex mechanical coupling relationship between the vehicle and manipulators,the each link and joint,so the study of its dynamics will be particularly important.This article will base on the discrete time transfer matrix method of multi-body system,set up the dynamics model and analysis.In this paper,the concrete content mainly includes the following several parts.First of all,the key technologies were introduced,and according to the functional requirements of the rescue robot manipulator to determine the number of degrees of freedom and the joint form of exercise,further to rescue robot manipulator drive scheme,and the choice of transmission scheme were analyzed in detail,the integral structure design of the manipulator is completed.Secondly,based on the discrete time transfer matrix method of multi-body system and the structural feature of dual-arm rescue robot,by using the theory of space motion of rigid body model,got the vehicle and each parts of the mechanical manipulator transfer matrix,and the integral dynamics equations and the total transfer matrix of the open loop double arm rescue robot system and the closed loop double arm rescue robot system are established.In order to verify the model,we applied the D-H method to establish its kinematic model.Then we used MATLAB software to calculation and simulation,obtained the diagram of the displacement,angular displacement,force and torque about the time.Through the analysis of simulation results,the model can effectively meet the needs of real-time dynamic simulation;provide the important theoretical basis for motor selection and the later control system design.Finally,according to the relief movement of manipulator,the motion path was divided into subtasks.Several joint space trajectory planning methods were studied.And in an ideal case,by the cubic polynomial method over the joint space trajectory path three sections for the main manipulator.The numerical simulation experiment was studied by using MATLAB software,obtained angular displacement,angular velocity and angular variation graph verified manipulator trajectory of continuity and stability.