双臂机器人轴孔装配的运动学关系分析

研究了双臂进行轴孔装配的运动学约束关系。双臂协调作业的关键，在于根据作业要求确定双臂运动的约束关系。结合轴孔装配的特点，推导了主从臂在位置、方位、关节速度和关节加速度上的完整约束，由主臂的运动变量来规划从臂的运动变量。仿真结果表明所建立的约束关系，能确保轴孔装配的顺利完成。

Analysis of kinematic relations for shaft and hole assembling of dualarms robot

This paper studied the kinematic restrained relations for carrying out hole and shaft assembling of dual arms. The key to coordinated work of dual arms lies in the determination of restrained relations of dual arms' movement according to the requirement of work. Combining with the characteristics of hole and shoft assembling,the complete restrains on position, orientation, velocity and acceleration of joints of master and slave arms were derived, and motion variables of slave arm are being programmed by motion variables of master arm. The result of simulation shows that the restrained relations being established could ensure a smooth completion on the assembly of shaft and hole.