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

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.