基于模块化驱动器的新型双臂机器人的研制

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2021-07-03 DOI:10.1109/ICARM52023.2021.9536159

Weijun Wang, Jiangtao Hu, Xiaofeng Yang, Tian Xie, Chaoyang Ma, Wenjie Li

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引用次数: 1

摘要

本文介绍了一种新型双臂机器人的研制。采用模块化作动器技术，双臂机器人由两个7自由度机械臂组成。该机器人的高自由度使其能够有效地避免手臂的关节限制和奇异性。提出了一种单独的双臂控制器，该双臂机器人具有人体大小的身体和手臂。首先，提出了一种模块化驱动器，并介绍了双臂机器人。然后，对该双臂机器人进行了运动学和动力学分析。最后，对该双臂机器人的原型进行了介绍和讨论。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of A Novel Dual-arm Robot via Modular Actuator

In this paper, the development of a novel dual-arm robot is introduced. With the use of modular actuator technology, a dual-arm robot consists of two 7-degree-of-freedom (7-DOF) robotic arms. The robot's high degree of freedom enables it to effectively avoid the joint limitations and singularities of the arm. A solo controller for both arms is proposed and this dual-arm robot has the human sized body and arms. Firstly, a modular actuator is presented and a dual-arm robot is introduced. Then, the kinematic and dynamic analysis for this dual-arm robot is presented. Finally, the prototype of this dual-arm robot is presented and discussed.

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来源期刊

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

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