Research On Virtual Prototype Of Redundant Dual-arm Industrial Robot

With the development of society and technology, the application of the robot has existed in various fields, which puts forward higher requirements to robots. More and more complex operating environment and mission make obstacle avoidance planning and coordinate operating planning become main challenges. So, the study of redundant industrial dual-arms robot virtual prototype is of great significance.To solve the two main problems, this subject presents virtual thrust avoidance planning algorithm of redundant manipulators and target-oriented coordinate operation planning algorithm of dual-arm robot system based on modeling theory. The two algorithms are verified by virtual prototype simulation analysis. The main research contents of this paper are as follows:1. This paper established kinematics model using D-H parameter method. The self-motion feature in redundant manipulator and inverse kinematics solution based on the gradient projection method are analyzed. Dynamics model of 7-DOF manipulator is established using Newton-Euler method. Above these provide theoretical basis for the follow-up study.2. For obstacle avoidance planning problem of robots, taking the advantage of self-motion feature and kinematics solution in redundant manipulator, virtual thrust avoidance algorithm based on minimum distance is designed, which solves the problem of the obstacles affecting the intermediate arm's movement; Based on it, two conversion factors are introduced to achieve the primary and secondary task switching of end-effector motion tracking and obstacle avoidance movement.3. Aiming at the coordinated operation problem of dual-arm robots in the condition of tight strict coordinated constraint, the target-oriented coordinate operation algorithm of dual-arm robot system is designed. Coordinate operation space is defined and coordinate dual-arm obstacle avoidance algorithm is designed combined with obstacle avoidance planning algorithm.4. Structure of redundant dual-arm robot is designed based on modular joint and the virtual prototype is established. The theoretical model and the algorithms are simulated and analyzed by using the virtual prototype. By comparing the numerical simulation results and virtual prototype simulation results, the validity and reliability of theoretical model and algorithms are verified.