双臂机器人dual-arm分析

双臂机器人dual-arm分析Dual-armrobotdesignedbyKIMM(KoreaInstituteofMachinery&Materials)搜集的文献分析：该dual-armrobot共发表了9篇IE论文----涉及robot设计的有4篇；----涉及robot控制的有4篇；----涉及robot测试的有2篇。MechanicaldesignRequiredSpecificationofthedualarmrobotThefigureshowsthesimpledrawingtherightarmandit'sdesignedtosatisfythespec.oftable.dual-arm的机器人机械结构

dual-armrobot由机身，臂部（包括大臂和小臂），手腕和手部几部分组成。1——机器人手部2——机器人腕部3——机器人手臂4——机器人机身Thenewtypeofdualarmrobot

manipulatorconsistsoftwosingleindustrialarms(6DOF)and

torso(2DOF).Inthisstructure,itisveryeasytocontrolthe

distancebetweenthe2ndJointsofbotharms.Ifthedistanceis

toowideorshort,thecooperationmanipulabilityoftwoarms

isnotgood.Withthisstructure,eacharmisalsoeasily

assembledwithtorsoandde-assembledfromtorso.Thuseach

singleindustrialarmisabletobeusedasastand-aloneof

industrialrobotmanipulatorandasapartofdualarm

manipulatoratthesametime.Thefirstjointofleft/rightarmis

composedofbelt,pulleyandhollowtypeofaharmonicdrive

forthispurpose.Theadvantagesoftheproposedstructure.It

iseasyto

understandthatleftandrightarmsareatypical

puma-like6DOFindustrialrobot.Itshows90degree-rotatedpictureofleftarm.

KinematicstructureofdevelopeddualarmrobotmanipulatorThekinematicstructureoftheleft/rightarmhasthesameasoneofthetraditionalindustrial6-DOFrobotsandwristshavethesphericalstructurewhichhassomeadvantagesofsimpleinversekinematics.CADdrawingofdevelopeddualarmrobot下面分别简介一下dual-armrobot的各个部分

——dual-armrobot的手部

——dual-armrobot的腕部

——dual-armrobot的手臂

——dual-armrobot的机身dual-armrobot的手部手部和腕部连接处可拆卸，手部和腕部有机械接口，也可以有电、气、液接头，当工业机器人作业对象不同时，可以方便拆卸和更换手部。dual-armrobot的腕部腕部是连接臂部和手部的部件，其作用主要是改变和调整手部在空间的方位，从而使手爪中所握持的工具或工件取得某一指定的姿态。腕部有独立的自由度，以满足机器人手部完成复杂的姿态。dual-armrobot的手臂臂部（包括小臂和大臂）是机器人机构的主要部分，该dual-armrobot的手臂部分有四个自由度，完成回转、俯仰或升降等动作。dual-armrobot的机身机身部分有两个自由度，完成俯仰和旋转工作，该dual-armrobot，机身不是重点，重点后面会介绍。机身KenematicsanalysisWorkspaceAnalysisThemostimportantfunctionofthedualarmrobot

manipulatoriscooperationbetweenleftandrightarmseach

other.ExlepostureforcooperationtaskofdevelopeddualarmrobotmanipulatorthefrontviewThecooperationworkspaceofdevelopeddualarmrobot

manipulator.thetopviewThecooperationworkspaceofdevelopeddualarmrobot

manipulator.Definitionofthepositionandorientationofthe

endeffectorofArm2withrespecttoArm1Calculationofthelinearvelocityoftheend

effectoroftheArm2duetotheunitangularvelocityof

Joint1ofArm1.PerformanceTestPositionRepeatabilityPayloadMaximumspeedPositionaccuracyControlSystemFig.1SchematicdiagramoftheoverallstructureofthecontrollerTheoverallstructureofthecontrolleriscomposedofthemainhost,thevisioncontroller,thetele-operationcontrollerandtherobotcontroller.AllthecontrollersarePC-based,andcontrollersareconnectedtoeachotherwithCANbustocommunicatetoeachotherwithrealtime.TherobotcontrolleriscomposedofIPMcompatiblePC,windowXPofMicrosoft,RealTimeExtension(RTX)ofArdence,andSynqNetMotionBoardofMEC,motorlifiers,(A/D)boards.dualcoreCPUforhardrealtimeconditionOnecoreforwindowsXPOnecoreforRTXInterruptlatencyunder1usvariableslingrateSynq_interrupttechniqueusedforsynchronizationbetweenthemotionboardandthehostPCFig.2Therobotcontoller27TheapplicationprogramforuserinterfaceisprogrammedandworkinginWindowsXPenvironmentbuttherealtimecontrolprogramisprogrammedandworkingintheRTXenvironment.MotioncontrolboardofMotionEngineeringisusedtocontrolthemotionoftheeachjoint.ThekinematiccalculationandthecontrolalgorithmaredoneinthePCenvironmentandthecontrolcommandsaretransferredtothemotioncontrolboard.TheuserinterfaceinWindowsXPenvironmentandtherealtimecontrolprograminRTXenvironmentcancommunicatesomeinformationofusercommandandthestateoftherobotmanipulator.Fig.3TherobotControllerstructureforthedevelopeddualarmrobotmanipulatorFig.4TheZMP-SynqNetmotionboardofMECAcommercialmotionboard,theZMP-SynqNetmotionboardofMECisselectedinthisrobot.Theboardusesthecentralizedcomputationtechnique.Itscontrolfrequencyisreducedwhenthemoreaxedarecontrolledatthesametime.Itcontrolthe4axeswith48khzatthesametime,anditcancontrol32axesatthesametime,with2khz.TheZMP-SynqNetmotionboardhastwospecialfeatures.Theoneisthatitusesthedigitalcommunicationtomotordrivers(AMPs)withtheprotocolSynqNetofMotionEngineering.ThesecondspecialfeatureisthatMotionEngineeringsupportsthedriversoftwareforRealTimeOS,RTLinux,RTX,etc.Fig.5RTXandwindowsRTLinuxisknownasoneofthebestrealtimeOS,butitisverydifficulttodevelopsoftwareintheLinuxenvironmentforgeneralusers.MostofPCusersusewindowsXP,andsomanyusefulsoftwaredevelopmentkitshavebeendeveloped.ButwindowsXPdoesn'tsupportrealtimecomputationandit'snotperfectlystablesystem.SoRTXwithwindowsXPisselected.RTXaddstheabilityofrealtimecomputationtothewindowsXP.ArdenceCo.LtdsaysRTXsupportstheabilityoftheinterruptlatencyof10usinthesingleCPUsystem.Buttheresultofourtestisdifferentfromtheiropinion.SothePentiumDprocessorwithdualcoreisselected,thenRTXcanuseonecoreoroneCPUfullywithouttheinterferencewithwindowsXP.Fig.6RTXandmultipleCPUEncodersignals,velocitysignals,motortorquesignalsandtheforce/torquesensorsignalsaretakenbytheADboardof16bit.ThisinformationcanbetransferredtotheCPUofPCwiththePCIInterface.Kinematicsalgorithms,forcesignalfilteringalgorithms,currentsignalfilteringalgorithms,position/forcehybridcontrolalgorithmsarecomputedontheCPUofIBMcompatiblePC.Positionreferencescanbecomputedwiththesealgorithmsandbetransferredtothemotionboard.Finallymotionboardcalculatestherequiredtorquereferencetocontrolrobotsystemandthenthetorquereferenceistransferredtothemotorlifiertocontrolthecurrentofmotors.Fig.7Schematicdiagramofthedevelopedcontroller32Forsystemsthatneedtosynchronizewiththecontrollerandcalculatedatathatneedstobesenteverysle,thefirmwareofZMPh