摘要
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,完成复杂的工作任务。双臂末端设计了回转型夹手,可以避免在棒料搬运过程中两个夹手凹槽方位不一致而产生的干涉问题。通过LMS Virtual. Lab Motion 3D仿真平台,对双臂机器人进行轨迹规划分析,通过设定运动轨迹上不同姿态的关键点,检测到机器人双臂能够协调运动,有效控制负载的姿态,验证了双臂机器人系统设计结构的合理性和操作的灵活性。
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.
作者
曹东江
王强
王宁
CAO Dong-jiang;WANG Qiang;WANG Ning(AVIC Qing'an Group Co.,Ltd.,Xi'an 710077,China)
出处
《测控技术》
2021年第2期32-36,共5页
Measurement & Control Technology
