Sponsor(s): Chinese Mechanical Engineering Society
24 issues per year
Current Issue: Issue 03, 2019
Journal of Mechanical Engineering, the 1st in the field of mechanical engineering, is supervised by China Association for Science and Technology (CAST) and sponsored by Chinese Mechanical Engineering Society (CMES). The journal aims to become an international academic journal of mechanical engineering. Its scope covers mechanics, manufacturing science and technology, instrument science and technology, materials science and engineering, carrying engineering, renewable energy and engineering thermophysics, fluid transmission and control, deep sea equipment technology, and automation control. The journal is included in CA, JST, Pж(AJ), EI, CSCD.
Wang Buxuan;Lu Yongxiang
Wang Wenbin;Wang Guobiao
Chen Xuedong;Chen Chaozhi
Huang Tian;Luo Jianbin
Journal of Mechanical Engineering,2019,Vol 55,No. 03
The dynamic modeling of dual-arm robot is the key technology to study the coordinated motion of the two robot arms. The difficulty lies in establishing the connection between the two robot arms in the same system. Aiming at the problem of dynamic modeling of dual-arm coordination robot, the general dynamic dual-arm model based on the Lagrangian equation is established, and the vector analytical method is used to solve the angular velocity Jacobian matrix of the single arm. Then in combination with the principle of virtual displacement, and based on the relative Jacobian matrix, the relative dynamics model of the dual-arm coordination robot is established. And the relationship between the relative forces at the ends of the two robot arms and the joint parameters is established. Simulation and experimental results demonstrate the correctness of vector analytical method and relative dynamics model. The model can solve the relative force at the ends of the two robot arms and provide a theoretical basis for analyzing the coordinated motion of the two robot arms.