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Workspace Simulation and Analysis of a Dual-Arm Nursing Robot

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11745))

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Abstract

Based on the self-innovative dual-arm nursing robot, the kinematics model of the robot is established by D-H method, and the forward kinematics equation of the robot is analyzed and solved. Monte Carlo method was used to analyze the workspace of the nursing robot, and then the MATLAB was used to get the point cloud of the wrist joint at the end of arms. The rationality of the simulation was verified by comparing with the motion boundary graph. By analyzing the relationship between joint variables and workspace boundaries, the influence of joint variables parameters on workspace is further understood, which can provide reference for workspace optimization and control system research, and has important guiding significance for the structural design and practical application of dual-arm robots.

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China

    Libo Zhang & Su Wang

  2. Beijing University of Civil Engineering and Architecture, Beijing, 100044, China

    Su Wang & Xingang Miao

Authors
  1. Libo Zhang
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  2. Su Wang
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  3. Xingang Miao
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Corresponding author

Correspondence to Su Wang .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Zhang, L., Wang, S., Miao, X. (2019). Workspace Simulation and Analysis of a Dual-Arm Nursing Robot. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_3

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  • DOI: https://doi.org/10.1007/978-3-030-27529-7_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27528-0

  • Online ISBN: 978-3-030-27529-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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