Dynamic Modeling and Cooperative Process Simulation in Cooperative Dual-Arm Robot Based on Adams

Abstract

The demand of cooperation task of cooperative dual-arm robot in industrial automation production is increasing day by day. It is analyzed that the kinematics and dynamics mathematical model of the cooperative dual-arm robot with six degrees of freedom in one arm and the relationship is constructed between the arms' position and the attitude for the robot in the paper. The mechanical characteristics of the cooperative tasks are analyzed that contains carrying, assembling and processing in the industrial field. The dynamic simulation software Adams is used for the simulation calculation and analysis. It is obtained that the position and attitude transformation characteristics of the forward kinematics solution through the simulation analysis, and the curve of the distribution force for the dual-arm in the process of cooperation is obtained. It provides the basis for setting up the reasonable driving force distribution and load distribution when realizing the task for dual-arm robot in cooperation.