Design Of Bionic Dual-arm Robot For Uavs And Research On Its Kinematics And Dynamics

In recent years,the use of unmanned aerial vehicles(UAV)has become more and more common in various fields.The main tasks are investigation and patrol.However,UAV are unable to interact with the surrounding environment.If the combination of the UAV and robots are adopted,UAV can capture and transport something,complete the space tasks that cannot be completed by the ground robots,which is of great significance for disaster rescue.This project focuses on the need of emergency rescue of personnel life-saving devices in high-rise building fire scene,and carry out the research project of dual-arm robot for UAV.The project focuses on structural design,kinematics analysis,dynamics analysis and controller design.This paper innovatively put forward a kind of UAV equipped with dual-arm robot that can be used for disaster rescue.According to the structure of the human arms,the structure of the arm is designed.And the gripper structure is designed.In order to meet the lightweight design requirements,composite materials are used for dual-arm.Then the servos are selected,and according to their sizes the structure of dual-arm robot have been modified.Secondly,the static analysis of the dual-arm robot is carried out,and the strength of the gripper is checked.The optimal structure is determined by comparing the arms of several different structures.By comparing different layers,the optimal layer order is determined.Again,based on D-H method,the reference coordinate system of the robot arm is established,and obtain the forward kinematics equations,inverse kinematics equations and the jacobian matrix.Then the singularity and the singular configuration are determined.Then through using MATLAB toolbox,robot kinematics is simulated,and the working space of the manipulator is obtained.Based on the jacobian matrix,the Lagrangian equation is constructed and the dynamics is analyzed.Finally,the controller is designed preliminarily.STM32 is selected as the main CPU,the schematic diagram and PCB layout are designed,and test is carried out.Relevant software procedure is designed to control the movement of each joint of the dual-arm robot,and the control of the servos is realized.