Structural Design And Motion Analysis Of Dual-arm Industrial Robot

Dual-arm industrial robot is used as an anthropomorphic manipulator with highly automated intelligent,which has good application prospect in manufacturing industry and life service area,and it also plays a vital role in the process of promoting the robot industry to become a new technology industry.Compared with single arm robot,Dual-arm industrial robot is working better at flexibility,the ability to adapt to the environment and workspace utilization.In order to realize these advantages,it is of great significance to study the theory and application of Dual-arm industrial robot.According to the characteristics of Dual-arm industrial robot's working characteristics,this dissertation design the structure of dual-arm robot as well as to analyze its movement.Firstly,This dissertation design the structures of Dual-arm industrial robot and finish the model selection of the joint drive systems according to Dual-arm industrial robot's working characteristics.This dissertation also carry out the static analysis and modal analysis of the robot arms by ANSYS Workbench to verify the rationality of the design.Secondly,this dissertation adopts D-H method on the Dual-arm industrial robot's kinematics analysis.The forward kinematics and inverse kinematics equations are be derived.MATLAB Robotics Toolbox is used to make simulation analysis,and the effective work space is obtained.Again,the trajectory planning and simulation of Dual-arm robot are completed by programming in Matlab Robotic Toolbox with fifth polynomial interpolation method of joint space.Then,the ADAMS software is used to model the parameters of the Dual-arm robot,and the dynamic analysis is carried out on the joint and the end effector.Last,the constraint relation in the process of the coordinated motion is studied and the kinematics equation is established.Aimed at the problems of the large amount of computation,the difficulty of ensuring the position and attitude of the terminal,the constraint of time and speed,this dissertation puts forward a feasible solution.