Deisgn and Optimization of Dual-Arm Robot for Avionics System Testing

被引：0

作者：

Yang, Yiqi ^{[1
]}

Sun, Tao ^{[2
]}

Zhang, Zhuangzhuang ^{[3
]}

Xie, Kaiyi ^{[1
]}

Zhu, Xiaoxiao ^{[3
]}

Cao, Qixin ^{[3
]}

机构：

[1] Shanghai Jiao Tong Univ, SJTU Paris Tech Elite Inst Technol, Shanghai, Peoples R China

[2] Shanghai Hangyi Res Inst Hightech Dev, Shanghai, Peoples R China

[3] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai, Peoples R China

来源：

2020 3RD WORLD CONFERENCE ON MECHANICAL ENGINEERING AND INTELLIGENT MANUFACTURING (WCMEIM 2020) | 2020年

基金：

中国国家自然科学基金;

关键词：

dual-arm robot; avionics system testing; workspace; Monte Carlo method; optimization;

D O I：

10.1109/WCMEIM52463.2020.00013

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The paper proposed dual-arm robot for avionics systems testing according to the limited space in cabinet. The robot included two commercial collaborative robots KUKA LBR IIWA7, a robotic torso with one prismatic joint in each side and a control unit. Based on modified D-H method, the paper established kinematic model of the two arms. Meanwhile, the workspace of dual-arm robot was obtained by both geometric method and Monte Carlo method. The common part in two results matched well. Through taking end effector into consideration, several criterions for avionics system testing robot was raised and the parameters of the robot was optimized. By using the Robotics Toolbox in matlab, the inverse kinematics of all goal points was solved as required. The result proved that our proposed dual-arm robot had at least one feasible solution for all the avionics system testing targets, which laid a foundation for later motion planning of robot.

引用

页码：31 / 35

页数：5

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