novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.25.615-623novtexmech-1662Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSРазработка пары антропоморфных роботизированных манипуляторов для решения совместных задачDesign and Implementation of Human-Like Ambidextrous Robotic Arms for Cooperative TasksХамудаА. М.HamoudaA M.

Магистрант

г. Ижевск

Master's Student

Izhevsk, 426069

abdullahhamuoda@gmail.comАбделлатифЭ. М.AbdellatifE. M.

Магистрант

г. Ижевск

Master's Student

Izhevsk, 426069

ezz2169@vivaldi.netАль АккадМ. A.Al AkkadM. A.

Канд. техн. наук, доц.

г. Ижевск

Ph.D., Associate Professor

Izhevsk, 426069

aimanakkad@yandex.ruИжевский государственный технический университет имени М. Т. КалашниковаРоссияKalashnikov Izhevsk State Technical UniversityRussian Federation2024051220242512615623Copyright © Commercial Publisher «New Technologies», 20242024Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1662

Представлено описание антропоморфного роботизированного комплекса, состоящего из корпуса и двух роботизированных манипуляторов, предназначенных для решения совместных задач. Данный комплекс может быть использован в учебных и исследовательских целях для создания и апробации алгоритмов управления антропоморфными роботами. Для решения обратной задачи кинематики используется метод адаптивной дифференциальной эволюции, что соответствует современным подходам к решению поставленной задачи. Использование данного метода облегчает нахождение оптимального решения при меньших затратах на вычисления по сравнению с аналитическими и численными методами и обеспечивает реалистичное и точное движение. Для динамического анализа роботизированного комплекса используется рекурсивный метод Ньютона-Эйлера. Далее подбираются приводы и анализируются напряжения для оценки структурной целостности робота и его способности выдерживать значительные нагрузки. Для обеспечения способности робота выполнять перемещение в пространстве и координации при выполнении задач используется метод нечеткого управления с бэкстеппингом. Выбор данного метода обусловлен устойчивостью к неопределенностям, нелинейностям и внешним возмущениям. Для предотвращения столкновений используется метод локализации пересечения эллипсоидов. Выбранные методы эффективны для предсказания движений суставов, необходимых для достижения желаемых положений и предотвращения столкновений. Описание разработки кистей робота будет представлено в отдельной работе. Представленный робототехнический комплекс может быть использован для выполнения задач в ситуациях, опасных для человека, а также для задач технического обслуживания.

In this paper an anthropomorphic robotic complex which consists of a robotic body with two robotic arms is designed for the purpose of achieving cooperative tasks. This research platform also aims to accelerate the creation and testing of control algorithms for humanlike anthropomorphic robots. An adaptive optimization algorithm based on differential evolution approach is proposed to solve the inverse kinematic problem. This algorithm facilitates finding a desirable solution easily and with less calculation cost compared to analytical and numerical methods, the thing that allows achieving realistic and efficient motion. This algorithm maintains balance between exploring new options and using current knowledge. Newton-Euler recursive approach is used for determining the robots dynamic properties. Then the required actuators are chosen, and stress analysis is conducted to evaluate the structural integrity of the robot and its capacity to withstand substantial loads. Adjustable backstepping fuzzy control method is used that is more robust to uncertainties, nonlinearities, and external disturbances and offers the robot the ability to perform movement in space, cooperate, and complete tasks in a coordinated manner. Ellipsoid intersection localizing method is used for collision avoidance. The selected methods excel at predicting the joints ’ movements required to attain desired poses with great accuracy and avoid collision. In a future paper, a study of the hands of this robot will be introduced. This work has the potential to be applied in tasks that are dangerous for humans, or in human-like tasks such as maintenance and manufacturing.

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The authors declare that there are no conflicts of interest present.