Structure design and kinematic analysis of dual arm robot

Abstract

The paper proposed dual arm robot carried by the rescue robot according to complex environment of disaster relief and actual work requirements. Based on D-H method, this paper established kinematic models of the two arms, calculates pose of the point at the end of the arm and obtains the inverse solution of the mechanical arms. Then prototype of the dual mechanical arms was obtained and imported into ADAMS, in this way, working region of the virtual prototype of the mechanical arms was solved and analyzed. And the mechanical arms are used to simulate actual work to get the movement curve. The simulation proved correctness of the established kinematic model and reasonableness of the design structure. matlab software and Monte Carlo method can be used to generate the workspace nephogram and collaboration space of the dual mechanical arms. The result of simulation showed that the mechanical arms had the conditions to be flexible when it worked, which laid a solid foundation for later trajectory planning and control of the two arms. This is the paper style requirement for the Chinese Control and Decision Conference. The writers of papers should and must provide normalized electronic documents in order for readers to search and read papers conveniently.