桌面机械手双臂协作试验研究

Research on cooperation of two arms based ondesktop manipulator

针对一些工业机器人在较小的工作空间,且对机器人精度要求不高的应用场合,设计使用小尺寸和低成本的桌面机械手代替工业级机械手进行作业任务,同时用两台桌面机械手组成的双臂机械手进行协作完成任务。以桌面机械手双臂为研究对象,采用D-H法对机械手双臂进行建模并进行运动学分析。在运动学基础上结合蒙特-卡罗法求解双臂工作空间,同时对桌面机械手的运动路径进行轨迹规划,并对双臂协作任务进行实验分析。结果表明:桌面机械手可以进行小物品平稳搬运。

For some industrial robots in a small working space,and the requirements for robot accuracy are not high,it is designed to use small-size and low-cost desktop robots to replace industrial-grade robots for work tasks,and at the same time use two arms composed of two desktop robots Robots collaborate to complete tasks.The desktop manipulator arms are used as the research object.The D-H method is used to model the manipulator arms and perform kinematic analysis.Based on the kinematics,the Monte Carlo method is used to solve the dual-arm workspace,and the motion path of the desktop manipulator is also analyzed.Trajectory planning,and experimental analysis of the dual-arm collaborative task,the results show that the desktop robot can carry small items smoothly.