Research On The Motion Ability Of Dual-arm Robot Based On Multi-configuration

In 60 s the last century,robot technology has been gradually emerging,more than half a century later,robot technology through continuous innovation,the current level of technology is not that simple techniques can be mentioned in the same breath.Today’s robotics technology from the military,social production of medical fields,or social services,livelihood and other areas are involved in the introduction of robots.Robot technology is playing a more and more important role in our production and life.It is also expected that robots will be able to participate in our personal and social activities.Due to strong support from the government,therefore,more and more scientific research institutes,universities,technology companies are on the technology of robot launched like a raging fire development,in a variety of fields from different starting point of intelligent robot technology research.In this paper,from the three types of mechanical arm expansion analysis,through a comprehensive comparison of the robot arm reach the work space,so as to choose the optimal configuration of the mechanical arm.The work space is one of the indicators to evaluate the movement ability of the manipulator.Through the design experiment,the most flexible mechanical arm is selected by analyzing the data and the experimental process.The specific research contents are as follows:Firstly,the robot model is established by D-H method according to the pre-customized connecting rod and joint size using 3ds Max,VC ++ 6.0 and OpenGL API,and the robot 3D simulation software system is realized by software programming.The software system consists of a variety of menu items,including robot selection,arm movement mode selection,crawling experimental task selection,etc.,they greatly facilitate the experimental process.Among them,the motion mode selection can complete the task of grasping the specific arm,effectively verify the kinematic inverse of the arm algorithm;crawling experimental task selection can be flexible to switch the three-dimensional simulation scene to be crawled target.Secondly,in the MATLAB environment using the Monte Carlo method to write software programs to achieve A,B,C three types of mechanical arm up to the working space cloud,and then the cloud area of the comprehensive comparative analysis.Among them,in the reachable workspace analysis,including the end of the actuator with attitude constraints and no attitude constraints of the two cases,in order to obtain three kinds of configuration arm up to the space point cloud.Then,in the VC++6.0 environment to these three configurations of robot arm model,the test design A,B,C three configuration arm in inverse kinematics is correct and effective in the case,in order to verify the inverse solution process which has maximum flexibility in the configuration of the arm in arm robot.Finally,through the experiment of three kinds of configuration manipulator in the MATLAB and the experiment in VC++6.0,the mechanical arm with the largest working space is selected.