Structural Design And Motion Control Of Dual-arm Robot

Traditional industrial robots have been widely used in industries such as welding,palletizing,and transportation.However,due to their structural weight,flexibility,low rigidity,poor operability,and cumbersome maintenance,they have limited their application fields.The dual-arm robot comprises two groups of tandem manipulators to form a closed loop kinematic chain structure,which characterizes higher adaptability,compliance,high redundancy and less space occupation,and has been applied to many prospects in robotics field.In this paper,a rope that is driven dual-arm robot is designed and manufactured according to the task requirements and specific working environment.Structural design: dual-arm robot mechanical structure design,selection and production,build and test the experimental platform.Theoretical aspects: the kinematic model and dynamic model of the dual-arm robot are established,and the general expressions of the trajectory planning algorithm and the acceleration and deceleration control algorithm are derived.In the simulation experiment,the structure is checked based on the ANSYS software;the MATLAB and ADAMS software are used to perform the theoretical verification of motion and trajectory planning,and the actual effect of the theory is validated by the experimental platform.The specific research contents are as follows:(1)The dual-arm robot structure design.First of all,the overall structure of the dual-arm robot is designed,including determination of the type,degrees of freedom,driving system and technical parameters.At the same time,the specific structure,including rope drive joint,connecting rod design,motor,wire rope,bearing and other components selection,sensor,wire wiring and interface layout are carried out,and then based on ANSYS software.Check the structure,and design parts processing requirements,including accuracy requirements,process requirements,assembly requirements,etc.Finally,the part drawing,process parts,assembly of the mechanical part of the dual-arm robot are finished.The dual-arm robot experiment platform comprises the mechanical part,the sensing part and the control part.According to design of the test experiment,detection of the size,load and rotation accuracy,the stability and operability of the experimental platform is proved,and the rationality of the structural design is verified.(2)Method based on MD-H.The forward and inverse kinematics equations of the robot are derived,and the kinematic equations of the robot arms are derived from the coordinated motion relationship between two arms.On basis of the Lagrange dynamics equation,the dynamic model of the robot and the contact environment are established.The working space of the dual-arm robot is solved applying Monte Carlo method,and a method based on the judgment of two points distance is proposed to solve the coordinated workspace of dual-arm robot.(3)The five polynomial interpolation method is based on over path points.The trajectory planning of dual-arm robot is carried out.Trajectory planning and motion control of dualarm robot are implemented out combined with five section S curve acceleration and deceleration control method,data sampling interpolation method and speed cycle compensation method.Improve the efficiency,accuracy and stability of the experimental platform in actual motion.(4)Virtual simulation is based on MATLAB and ADAMS software.Firstly,the dual-arm robot's visual model is established.Secondly,the correctness of the trajectory planning algorithm and kinematics theory are verified.Moreover,the dual-arm robot's comprehensive motion performance is analyzed and evaluated.Finally,by means of the dual-arm robot experimental platform,the task is completed,the experimental results are analyzed and evaluated,and the derivation theory's correctness is verified.