摘要
双臂机械手与单臂机械手比较,能较好地完成装配和搬运重物等工作。当双臂机械手搬运物体从一个位置到另一个位置时,机架、两个臂和被夹持物体构成一个封闭系统。双臂机械手的运动将受到两手部夹持器与被夹持物体之间相对位置和姿态的影响。本文提出了确定双臂机械手搬运物体时的工作空间的方法。建立了数学模型和约束方程;提出了优化的目标函数和设计变量。在文中还研究了确定双臂机械手公共工作空间的方法。导出了双臂机械手公共工作空间的边界轮廓方程,最后给出一个数字实例来说明。
A dual-arm manipulator can perform some tasks better, such as assembly and carry, as compared with a manipulator with one arm. When a dual-arm manipulator carries an object from one position to another, the two arms and the gripped object constitute a closed loop system. The motion of the dual-arm manipulator will be affected by the positions and orientations between two end-effectors and gripped object. This paper presents a method for determining the workspace of dual-arm manipulators which are carrying an object. The mathematical model and constraint equations are established. An objective function and the design variables are presented. In this paper a method to determine common workspace of dual-arm manipulators are also investigated. The equations for determining bound ry of common workspace for dual-arm manipulators are derived. Finally, a numerical example is given for illustration.
基金
国家自然科学基金
关键词
双臂机械手
工作空间
机械手
dual-arm manipulator, carry an object, workspace, boundary equation
