Research On Dynamics Analysis And Control System Of Dual-Arm Rescue Robot

In recent years,rescue robot technology has been developed rapidly and has been widely used in mining,rescue and inspection.Compared to single arm rescue robot,a dual-arm robot can carry out a more complicated and anthropomorphic task,which is the trend of robot development in the future.In this paper,in order to satisfy the complex environmental requirements,the mechanical structure design of the two-coordinated manipulator 3R is presented.The kinematics and dynamics model of the robot including the vehicle body and manipulator are established.At the same time,the working space for coordinated movement of the arms is analyzed,and the dynamic coupling between the robot body as well as the robot arm is further discussed.Finally,the control scheme of the vehicle's trajectory tracking is proposed and the corresponding experimental research is completed as well.First of all,the modular design scheme is used to complete the structural design of the dual robotic arm.Force analysis of the key components of the arm is carried out.And the strength analysis of them based on ANSYS is completed.By establishing the kinematic model of the two arms,the method of solving the forward equation and inverse equations is proposed.Then the work space and the limit position of the two arms are analyzed to provide the basis for the determination of the length,configuration and parameters of the two arms of the rescue robot.By using ADAMS tool,the kinematic simulates of the robot is completed.As a result,the rationality of the structural parameters of the robot is verified.Secondly,the unified Dynamic model of the two-arm rescue mobile robot is established by the generalized Lagrangian dynamics method.At the same time,the dynamics coupling of the two-arm rescue mobile robot system is analyzed.When the manipulator moves ccording to another function or manipulator configuration changes,the proportion of the acceleration moment of the input moment of the car body is the largest,while the quadratic term and the proportion of the gravity term of each joint of the manipulator are relatively larger than the proportion of the acceleration item.It is proved that the dynamic coupling of vehicle body and manipulator is existed objectively.Finally,based on the kinematics model of the moving body of the robot,a control strategy based on the differential algorithm and the Backstepping control is proposed,which guarantees the smoothness and global stability of the trajectory of the mobile robot.The fuzzy adaptive algorithm is also used to compensate the existing friction and the disturbance of the external environment,to reduce the approaching error of the manipulator and improve the system accuracy as well as anti-interference.