桌面机械手双臂协作试验研究  

Research on cooperation of two arms based ondesktop manipulator

作　　者：刘祚时[1] 房双艳 饶远 LIU Zuoshi;FANG Shuangyan;RAO Yuan(School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China)

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《传感器与微系统》2022年第1期32-36,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(71361014);江西省研究生创新专项资金资助项目(YC2019-S313)。

摘　　要：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.

关 键 词：机械手双臂 D-H法 蒙特-卡罗法 轨迹规划 协作任务 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]