Research On Kinematics And Cooperative Space Of Robot Modularization Dual Arms

Modular dual-arm robots can replace humans or help humans to complete various kinds of collaborative work.It is a hotspot in the development of robotic intelligence at present.To a certain extent,the research level of dual-arm robots represents the status of a country in the field of robotic arms.Modular manipulator adapts to different operating environments or changing tasks through modular reorganization which is the key to the research of dual-arm robots.The topic of this paper originates from the key project of natural science research in Anhui Province University,which is "Map Construction of Robot Double Arm System Operational Capability and Research on Human Motion Planning Method "(The project number is KJ2016A200.)and Anhui Post-doctoral Fund Project "Research on the Planning of Robot Double Arm Human-like Motion Based on Neurophysiology"(The project number is DG081.).Aiming at a modular dual-arm cooperative robot,this paper studies four aspects: the construction of modular dual-arm system,the kinematics modeling of modular dual-arm,the singularly analysis of modular dual-arm and the solution of modular dual-arm cooperative space.The main contents of this paper are as follows:(1)Established modular dual-arm mechanical system for robots.Around the modular manipulator with hollow joint module,based on the investigation and analysis of the existing manipulator,the overall structure of the modular six-degree-of-freedom manipulator is constructed.At last,we use SolidWorks drawn the three-dimensional model of the manipulator.(2)Kinematics analysis of modular arm of robot.The kinematics of modular arm is analyzed by standard DH method.The kinematics equation is obtained and the inverse kinematics algorithm of the arm is designed.The three-dimensional model of the manipulator is imported into MATLAB by fast modeling method.According to the analysis results,the kinematics simulation platform of the two arms of the robot is established.The forward and inverse kinematics of the manipulator are verified,and the data parameters of the manipulator are transformed into the simulation platform.(3)Singularity analysis of modular arms of robots.The Jacobian matrix of modular manipulator is calculated by differential transformation method.The singularity of modular manipulator is calculated by decomposing the singularity points of the manipulator to obtain all the singularity points and give the corresponding conFig.uration of the manipulator.Based on the operability flexibility index and the minimum singularity value flexibility index,the singularity of modular manipulator is simulated by the robot toolbox.The shape of the operability ellipsoid of the end effector is studied when the modular manipulator in singular position.(4)Modular dual-arm cooperative space solution for robots.The optimal performance of manipulator operation is achieved in the cooperative space.Based on the kinematics analysis of the manipulator in Chapter 2,the expression of the workspace of the reference point of the end effector is derived.The workspace of the manipulator is solved by analytic method,geometric method,Monte Carlo method and discrete space method.Then the cooperative space of the manipulator is extracted by Monte Carlo method and discrete space method.Through the calculation of these methods,the correctness of the workspace of the manipulator is verified.The analysis of kinematics,singularity and collaboration space of modular robotic arms is the basis of the research of modular robotic arms which play a practical role in the development and use of robots in the future.