双臂机器人自动装配平台的研制

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI:10.1109/ICCAS.2014.6988013

D. Park, Chanhun Park, Hyunmin Do, Taeyong Choi, J. Kyung

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引用次数: 7

摘要

双臂机器人是机器人领域的热点问题之一。由于双臂机器人和人类一样拥有两条手臂，因此它可以完成单臂机器人无法完成的复杂搬运任务和无夹具装配任务。在工业制造中，它有望取代人类，取得比人类更好的成绩。本文提出了一种具有移动平台的双臂机器人系统，并对其进行了运动学和动力学分析。对工作空间进行了运动学分析，对机器人规格进行了动力学分析。

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 dual arm robot platform for automatic assembly

A dual arm robot is one of the most popular issue on the robotic field. Because a dual arm robot has two arms like humans, it can conduct the complex handling task and the jigless assembly task which cannot be performed by a single arm robot. Also, it is expected to substitute for humans and do better performance than humans in the industrial manufacturing. In the paper, we proposed a dual arm robot system with a mobile platform for the automatic assembly of electrical devices and it was developed through kinematic and dynamic analysis. Kinematic analysis was performed for the workspace and dynamic analysis was carried out for the robot specification.

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2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)

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