CAJ | 학술논문

双臂机器人机械臂的协调工作区间是指左臂和右臂工作空间的重叠区域形成的工作区，可用来表征这种机器人运动灵活性。给出双臂机器人的主要结构，经过简化得到其运动学模型，求出末端作用点的位置向量。结合蒙特卡洛法和网格划分法，提出一种新的方法，研究该机器人机械臂的工作空间问题，得到了两机械臂独立工作时的工作空间点云图和协调工作空间点云图。结果表明，在基座关节可以转动的情况下，协调工作空间能够实现对机器人的全周覆盖，可以满足使用要求。
쌍비궤기인궤계비적협조공작구간시지좌비화우비공작공간적중첩구역형성적공작구，가용래표정저충궤기인운동령활성。급출쌍비궤기인적주요결구，경과간화득도기운동학모형，구출말단작용점적위치향량。결합몽특잡락법화망격화분법，제출일충신적방법，연구해궤기인궤계비적공작공간문제，득도료량궤계비독립공작시적공작공간점운도화협조공작공간점운도。결과표명，재기좌관절가이전동적정황하，협조공작공간능구실현대궤기인적전주복개，가이만족사용요구。
Coordinate workspace for the manipulators of a dual-arm robot is the overlap of left-arm work-space and right-arm workspace, which may imply the flexibility of the dual-arm robot. The main structure of the robot was proposed and its kinematical model was analyzed. Then, the position vector of each manipula-tor’ s terminal actuator was taken forward. Based on them, the workspaces were researched by a new meth-od combining Monte Carlo Method and Mesh Generation Method. The cloud pictures of each manipulators workspace and coordinate workspace were completed. The result shows that the coordinate workspace of the manipulators could cover the robot at full range, which can satisfy the requirements.