双臂协作机器人动态精度设计及工作空间分析

Dynamic Accuracy Design and Workspace Analysis Based on Dual Arm Cooperative Robot

针对双臂协作机器人在票据自动报销处理过程中,票据高速移动、翻转、高精度动态对位及机械臂完备工作空间设计等问题进行详细分析。通过D-H约定建立机械臂空间坐标系,求解相应正逆运动学方程,并根据正运动学方程求出机械臂末端工作空间云图,运用蒙特卡洛法遍历双臂相对距离取值范围,求取工作空间最大交会情况下双臂相对距离。对末端执行器不同对接位置进行仿真研究,分析末端执行器平均加速度波动情况,获得动态精度最优情况下的位置参数,为双臂机器人动态精度设计及精准控制奠定基础。

In the process of automatic bill reimbursement processing for double arm cooperative robot,the problems of bills high speed motion,flip,high precision dynamic counter position and complete workspace design of manipulator were analyzed in detail.The spatial coordinate system of the mechanical arm was established by D-H,and the corresponding inverse kinematics equation was solved,and the working space cloud of the end of the manipulator was obtained according to the positive kinematics equation.Monte Carlo method was used to traverse the range of the relative distances of the two arms to obtain the relative distance of the arms in the maximum rendezvous situation of the working space.Simulate the different docking positions of the end effector,analyze the average acceleration fluctuation of the end effector,and obtain the position parameters with the best dynamic accuracy,which lays the foundation for the stability design and precise control of the dual-arm robot.