Dynamic simulation and analysis for bolt and nut mating of dual arm robot

Fuhai Zhang; Lei Hua; Yili Fu; Bin Guo

doi:10.1109/ROBIO.2012.6491042

Dynamic simulation and analysis for bolt and nut mating of dual arm robot

Fuhai Zhang^*
, Lei Hua
, Yili Fu
, Bin Guo

^*Corresponding author for this work

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

Dual arm cooperative robots have been developed in diverse fields. A dual arm robot is more advantageous than the single arm version. The difficulty in mechanical analysis for dual arms comes mainly from the closed chain system. To overcome this problem, the kinematic analysis of dual arm robot is introduced, including kinematic analysis of closed chain and the arms. The kinematic constraint relations for bolt and nut mating of dual arm robot are analyzed. By using the constraint relations, the bolt and nut mating simulation is performed on the 3D model of the dual arm robot. Simulation results show that this method can make the dual arm robot complete bolt and nut mating smoothly.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages	660-665
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2012.6491042
State	Published - 2012
Event	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China Duration: 11 Dec 2012 → 14 Dec 2012

Publication series

Name	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Conference

Conference	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Country/Territory	China
City	Guangzhou
Period	11/12/12 → 14/12/12

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10.1109/ROBIO.2012.6491042

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Zhang, F., Hua, L., Fu, Y., & Guo, B. (2012). Dynamic simulation and analysis for bolt and nut mating of dual arm robot. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (pp. 660-665). Article 6491042 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6491042

@inproceedings{bcc85b2075aa4f9790b70ab17ecabb7d,

title = "Dynamic simulation and analysis for bolt and nut mating of dual arm robot",

abstract = "Dual arm cooperative robots have been developed in diverse fields. A dual arm robot is more advantageous than the single arm version. The difficulty in mechanical analysis for dual arms comes mainly from the closed chain system. To overcome this problem, the kinematic analysis of dual arm robot is introduced, including kinematic analysis of closed chain and the arms. The kinematic constraint relations for bolt and nut mating of dual arm robot are analyzed. By using the constraint relations, the bolt and nut mating simulation is performed on the 3D model of the dual arm robot. Simulation results show that this method can make the dual arm robot complete bolt and nut mating smoothly.",

author = "Fuhai Zhang and Lei Hua and Yili Fu and Bin Guo",

year = "2012",

doi = "10.1109/ROBIO.2012.6491042",

language = "英语",

isbn = "9781467321273",

series = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

pages = "660--665",

booktitle = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

note = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 ; Conference date: 11-12-2012 Through 14-12-2012",

}

Zhang, F, Hua, L, Fu, Y & Guo, B 2012, Dynamic simulation and analysis for bolt and nut mating of dual arm robot. in 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest., 6491042, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp. 660-665, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 11/12/12. https://doi.org/10.1109/ROBIO.2012.6491042

Dynamic simulation and analysis for bolt and nut mating of dual arm robot. / Zhang, Fuhai; Hua, Lei; Fu, Yili et al.
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 660-665 6491042 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamic simulation and analysis for bolt and nut mating of dual arm robot

AU - Zhang, Fuhai

AU - Hua, Lei

AU - Fu, Yili

AU - Guo, Bin

PY - 2012

Y1 - 2012

N2 - Dual arm cooperative robots have been developed in diverse fields. A dual arm robot is more advantageous than the single arm version. The difficulty in mechanical analysis for dual arms comes mainly from the closed chain system. To overcome this problem, the kinematic analysis of dual arm robot is introduced, including kinematic analysis of closed chain and the arms. The kinematic constraint relations for bolt and nut mating of dual arm robot are analyzed. By using the constraint relations, the bolt and nut mating simulation is performed on the 3D model of the dual arm robot. Simulation results show that this method can make the dual arm robot complete bolt and nut mating smoothly.

AB - Dual arm cooperative robots have been developed in diverse fields. A dual arm robot is more advantageous than the single arm version. The difficulty in mechanical analysis for dual arms comes mainly from the closed chain system. To overcome this problem, the kinematic analysis of dual arm robot is introduced, including kinematic analysis of closed chain and the arms. The kinematic constraint relations for bolt and nut mating of dual arm robot are analyzed. By using the constraint relations, the bolt and nut mating simulation is performed on the 3D model of the dual arm robot. Simulation results show that this method can make the dual arm robot complete bolt and nut mating smoothly.

UR - https://www.scopus.com/pages/publications/84876475214

U2 - 10.1109/ROBIO.2012.6491042

DO - 10.1109/ROBIO.2012.6491042

M3 - 会议稿件

AN - SCOPUS:84876475214

SN - 9781467321273

T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

SP - 660

EP - 665

BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012

Y2 - 11 December 2012 through 14 December 2012

ER -

Dynamic simulation and analysis for bolt and nut mating of dual arm robot

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