Research On Kinematics Mechanism And Trajectory Planning Of Dual-arm Cooperative Robot

With the advent of the era of China intelligent manufacturing 2025 and industry 4.0,the intelligence level of Chinese industrial sector is constantly improving,and the original level of automation is gradually changing to the intelligent level.The higher requirements are put forward by people about the intelligent level of production equipment.In some situations where the movement is dangerous and the work accuracy is high,the traditional industrial robot has been unable to meet the task requirements.Dual-arm cooperative robot improves the operability and accuracy of the task,reflects the dexterity of cooperation,and improves the work efficiency.At present,the research of dual-arm cooperative robot has become a hot spot in the society,which is of great significance to the development of science and technology.In this thesis,the coordinated motion stability of dual-arm cooperative robot is studied.Firstly,a simulation model of the dual-arm cooperative robot is established with Solidworks,including the base,left arm and right arm.The left arm and right arm contain seven joint parts,which are shoulder1,shoulder2,big arm,elbow,forearm,wrist and end-effector(manipulator claw),respectively.Secondly,the D-H model of the dual-arm is established with MATLAB according to the joint parameters of the dual-arm cooperative robot,and the forward kinematics solution of the 7-DOF(degree-of-freedom)dual-arm cooperative robot is solved,which is verified by using the Robotics Toolbox.On this basis,the dual-arm workspace is solved to reflect the correctness of the dual-arm model and the rationality of the workspace scope.The inverse kinematics solution of the dual-arm cooperative robot is calculated by analytical method,and the correctness of the inverse kinematics solution is verified in MATLAB.Finally,the Newton-Euler dynamics model is used to establish dynamic modeling of the dual-arm,which as a foreshadowing for the coordinated motion planning of dual-arm.In the process of coordinated movement,both arms should not only avoid the obstacles of external objects,but also need to coordinate and prevent collision,so that both arms can move without a singular configuration.Firstly,to analyze the kinematic characteristics of the dual-arm cooperative robot in joint space,joint space trajectory planning is calculated for the dual-arm cooperative robot.Secondly,Cartesian space trajectory planning is calculated for the dual-arm cooperative robot,and the movement effect of the linear trajectory and arc trajectory in the operating space are analyzed,which provides reliable kinematic planning for the virtual simulation experiment of realizing dual-arm cooperatively clamping and moving object.For the task of dual-arm cooperatively clamping and moving object,this paper proposes a closed-loop control method of dual-arm cooperative position/force mixing control based on MATLAB and ADAMS united simulation.Firstly,the dual-arm cooperative robot model is imported into the dynamics simulation software ADAMS,and the rotary pair connection constraints and drive constraints are added to it.Meanwhile,the dual-arm cooperatively clamping and moving operation platform is built.Secondly,the position control based on inverse kinematics solution and the end force control based on fuzzy PD are combined to realize the closed-loop control of the position/force mixture of the dual-arm cooperative robot,which controls the simultaneous motion of the dual-arm to operate the clamping and moving target tasks,the stability and adaptability of the dual-arm coordination are analyzed,and the flexibility,fault tolerance and reliability of dual-arm operate the task using this control method are verified.