Analyzing and Optimizing Parameters of 6R Dual-arm Service Robot Collaborative Space
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摘要: 针对双臂机器人协作空间及其机构参数优化问题, 以6R双臂服务机器人为研究对象, 根据D-H参数求出运动学正解, 利用蒙特卡洛法求解双臂各自的工作空间, 以协作空间最大为优化目标, 求解机械臂机构最优参数, 通过MATLAB进行编程对具体运算结果进行验证。结果表明, 在一定约束之内, 以双臂机器人协作空间最大为目标, 优化机构连杆长度和关节范围大小, 对双臂服务机器人的设计改进有着重要意义, 为后续的双臂协调操作奠定了基础。Abstract: This paper studies the 6R dual-arm service robot independently developed by lab personnel and finds the forward kinematics solution according to Denavit-Hartenberg(D-H) parameters. It uses the Monte Carlo method to get its working space and extract the common area points set within the allowable error range. It proposes to quantify the size of collaborative space volume using the number of space cloud points. To get the maximum collaborative space volume, this paper iteratively searches for the optimal mechanical parameters of the robot arm. The results show that it is of great significance to optimize the mechanism parameters of the robot in order to get the largest cooperation space of the dual arm robot within the constraints of its joints, thus laying the foundation for coordinated operations.
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Key words:
- dual-arm robot /
- collaborative space /
- Monte Carlo method /
- optimization
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表 1 双臂机器人-左臂DH参数表
关节 αi-1/rad ai-1/m θi/rad di/m 1 0 a0 θ1 0 2 
a1 
d2 3 0 a2 
0 4 
0 θ4 d4 5 
0 θ5 0 6 
0 θ6 0 
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表 2 各个连杆长度最大值和最小值
连杆参数 a0 a1 d2 a2 d4 最大值/m 0.16 0.17 0.082 0.307 0.256 最小值/m 0.08 0.09 0.002 0.227 0.186
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表 3 连杆原始参数、改进参数、协作空间增加幅度
连杆参数 a0 a1 d2 a2 d4 原始参数/m 0.12 0.13 0.04 0.26 0.24 改进参数/m 0.11 0.09 0.05 0.23 0.22 增加幅度/% 6 1 0.3 1.5 0.4
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表 4 关节转角范围
关节 θ1 θ2 θ3 θ4 θ5 θ6 关节上限/(°) 90 90 180 180 90 180 关节下限/(°) -90 -120 0 -180 -90 -180
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