双臂搬运机器人结构设计与动态仿真分析

针对棒料搬运和无人机翼下弹药挂装,设计了一种基于双六自由度结构的双臂搬运机器人.对机器人总体构型和各驱动回转及末端执行器等重要部分结构加以阐述.双臂机器人由10个驱动转动环节组成,其中腰部和肩部回转为2个共用关节,双臂各有4个回转关节,组成双六自由度机械臂.机器人通过两臂间的协作可以准确地调整搬运对象的位姿,完成复杂的...

Structural Design and Dynamic Simulation Analysis of Dual Arm Handling Robot

Aiming at bars handling and ammunition hanging under the wing of UAV,a dual arm handling robot based on dual 6-DOF structure is designed.The overall configuration of the robot and the structure of each driving rotary and end effector are described.The dual arm robot is composed of 10 driving rotary joint,in which the waist and shoulder rotation are two common joints,and each arm has four rotary joints to form a dual 6-DOF manipulator.Through the cooperation between the two arms,the robot can accurately adjust the pose of the moving object and complete the complex tasks.A rotary gripper is designed at the end of both arms,which can avoid the interference problem caused by the inconsistent orientation of two gripper grooves in the process of bars handling.Through LMS Virtual.Lab Motion 3D platform,the trajectory planning of dual arm robot is simulated and analyzed.By setting the key points of different posture on the motion trajectory,the robot arms can coordinate the movement and effectively control the attitude of the load,which verifies the rationality of the design structure and the operational flexibility of the dual arm robot system.