Analysis of kinematic relations for shaft and hole assembling of dualarms robot

This paper studied the kinematic restrained relations for carrying out hole and shaft assembling of dual arms. The key to coordinated work of dual arms lies in the determination of restrained relations of dual arms' movement according to the requirement of work. Combining with the characteristics of hole and shoft assembling,the complete restrains on position, orientation, velocity and acceleration of joints of master and slave arms were derived, and motion variables of slave arm are being programmed by motion variables of master arm. The result of simulation shows that the restrained relations being established could ensure a smooth completion on the assembly of shaft and hole.