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

Yiqi Yang,Tao Sun,Zhuangzhuang Zhang,Kaiyi Xie,Xiaoxiao Zhu,Qixin Cao

2020 3rd World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)（2020）

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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 LBRIIWA7, 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 g...

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关键词

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

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