关键词: 人形机器人, 双臂协同运动, 工作空间分析, 协同运动

Abstract: The geometric analysis method was used to analyze the influence of the design parameters of the dual-arm base on the workspace of the humanoid robot in the logistics handling scene. The humanoid robot and the handling target object were modeled, and the handling target, the configuration of the double arms and the installation of dual-arm base were quantitatively analyzed to determine the constraints in the quantification relationship, including the range of motion and interference conditions of the robot arms. The mathematical relationship between each variable was established by using mathematical methods, the relationship between the handling target, the configuration of the robot arms and the dual-arm base was analyzed. By defining the configuration of the robot arms and the size range of the handling target box, the parameters of the dual-arm base were calculated to obtain the optimal working space for the humanoid robot to carry the target box in the logistics handling scene. The handling experiment was carried out on the selected handling target to verify the optimized working space of the two arms. The experimental results show that the dual-arm workspace analysis method proposed could analyze the workspace of the coordinated motion of the two arms for the work scene, and calculate the design parameters of the dual-arm base under the optimal workspace through constraints, which provides the design idea of the dual-arm base for maximizing the cooperative motion space of the humanoid robot.