https://zilin-chen-22.github.io/zilinchen.github.io/tag/work-space/Work SpaceHugo Blox Builder (https://hugoblox.com)en-usTue, 12 Mar 2024 00:00:00 +0000https://zilin-chen-22.github.io/zilinchen.github.io/media/icon_hu7729264130191091259.pnghttps://zilin-chen-22.github.io/zilinchen.github.io/tag/work-space/https://zilin-chen-22.github.io/zilinchen.github.io/blog/dual-arm_collaborative_robot/Tue, 12 Mar 2024 00:00:00 +0000https://zilin-chen-22.github.io/zilinchen.github.io/blog/dual-arm_collaborative_robot/<p>From Febuary till December, 2024, I joint a team of four to work on a dual-arm collaborative robot system.</p> <p>Under assistant professor Ze Wang&rsquo;s guidance, I mainly focus on finding the work space of the robot.</p> <h2 id="research-overview">Research Overview</h2> <p><em>Advisor: Ze Wang, Professor and Assistant Dean at School of Mechanical Engineering, Tsinghua University</em></p> <p>The main focus of this study is to use dual-arm collaborative robot system to enhance the stiffness while working. Most dual-arm system do not have a rigid connection between the two arms. We are developing a system which have a rigid connection, which is the main innovation.</p> <p>We designed three different configuration for the dual-arm system, as shown below: <figure > <div class="flex justify-center "> <div class="w-100" ><img alt="Different Configurations" srcset=" /zilinchen.github.io/blog/dual-arm_collaborative_robot/collaborative_robot_config_hu8704123345176170243.webp 400w, /zilinchen.github.io/blog/dual-arm_collaborative_robot/collaborative_robot_config_hu13023425252861754865.webp 760w, /zilinchen.github.io/blog/dual-arm_collaborative_robot/collaborative_robot_config_hu10149623411190354149.webp 1200w" src="https://zilin-chen-22.github.io/zilinchen.github.io/zilinchen.github.io/blog/dual-arm_collaborative_robot/collaborative_robot_config_hu8704123345176170243.webp" width="760" height="294" loading="lazy" data-zoomable /></div> </div></figure> </p> <ul> <li> <p><strong>Motion Trajectory Planning Research</strong></p> <ul> <li>Summarized current research progress on motion trajectory planning of two-arm collaborative robots.</li> <li>Identified key areas for improvement and proposed innovative solutions.</li> </ul> </li> <li> <p><strong>End Effector Stability Enhancement</strong></p> <ul> <li>Improved the stability on the end effector of a two-arm collaborative robot.</li> <li>Implemented techniques to ensure precise and consistent performance.</li> </ul> </li> <li> <p><strong>Workspace and Collision Analysis</strong></p> <ul> <li>Analyzed the workspace and constraints of the robot.</li> <li>Developed strategies to prevent collisions between the two arms of the collaborative robot.</li> </ul> </li> <li> <p><strong>Robot Configuration Design Collaboration</strong></p> <ul> <li>Collaborated with a team of four to design different robot configurations.</li> <li>Focused on improving stiffness and overall structural integrity of the robots.</li> </ul> </li> </ul> <h2 id="my-contribution">My Contribution</h2> <p>I mainly focus on the working space of this system. Unlike most dual-arm robot system, ours need to consider the problem of two robotic arms interfering with each other.</p> <p>Using MATLAB to do simulating work, I developed a programme using Monte Carlo method to find the available workspace.</p> <p>One example is shown below: <figure > <div class="flex justify-center "> <div class="w-100" ><img alt="Example Picture" srcset=" /zilinchen.github.io/blog/dual-arm_collaborative_robot/mood2-0.6_hu13085531709718863408.webp 400w, /zilinchen.github.io/blog/dual-arm_collaborative_robot/mood2-0.6_hu18287824352815372532.webp 760w, /zilinchen.github.io/blog/dual-arm_collaborative_robot/mood2-0.6_hu9485363187183291949.webp 1200w" src="https://zilin-chen-22.github.io/zilinchen.github.io/zilinchen.github.io/blog/dual-arm_collaborative_robot/mood2-0.6_hu13085531709718863408.webp" width="760" height="582" loading="lazy" data-zoomable /></div> </div></figure> The red dots is the available dots, where the robot can reach under the strict rigid connection.</p> <p>We can see the slice on the plate of z = 0.2: <figure > <div class="flex justify-center "> <div class="w-100" ><img alt="Example Picture" srcset=" /zilinchen.github.io/blog/dual-arm_collaborative_robot/mood1-0.3-0.2slice_hu5697874097612082875.webp 400w, /zilinchen.github.io/blog/dual-arm_collaborative_robot/mood1-0.3-0.2slice_hu9076667755032070114.webp 760w, /zilinchen.github.io/blog/dual-arm_collaborative_robot/mood1-0.3-0.2slice_hu6661022154321461746.webp 1200w" src="https://zilin-chen-22.github.io/zilinchen.github.io/zilinchen.github.io/blog/dual-arm_collaborative_robot/mood1-0.3-0.2slice_hu5697874097612082875.webp" width="760" height="582" loading="lazy" data-zoomable /></div> </div></figure> Below is what is looked like on this plate: <figure > <div class="flex justify-center "> <div class="w-100" ><img alt="Example Picture" srcset=" /zilinchen.github.io/blog/dual-arm_collaborative_robot/mood2-0.6-0.2section_hu1748616455973382965.webp 400w, /zilinchen.github.io/blog/dual-arm_collaborative_robot/mood2-0.6-0.2section_hu1376079867616233151.webp 760w, /zilinchen.github.io/blog/dual-arm_collaborative_robot/mood2-0.6-0.2section_hu1764330208090635719.webp 1200w" src="https://zilin-chen-22.github.io/zilinchen.github.io/zilinchen.github.io/blog/dual-arm_collaborative_robot/mood2-0.6-0.2section_hu1748616455973382965.webp" width="760" height="582" loading="lazy" data-zoomable /></div> </div></figure> </p> <p><a href="https://cloud.tsinghua.edu.cn/d/ea81f9defecc4959af53/" target="_blank" rel="noopener">Click here</a> to find the original code</p>