Workspace Simulation and Analysis of a Dual-Arm Nursing Robot

  • Libo Zhang
  • Su WangEmail author
  • Xingang Miao
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


Based on the self-innovative dual-arm nursing robot, the kinematics model of the robot is established by D-H method, and the forward kinematics equation of the robot is analyzed and solved. Monte Carlo method was used to analyze the workspace of the nursing robot, and then the MATLAB was used to get the point cloud of the wrist joint at the end of arms. The rationality of the simulation was verified by comparing with the motion boundary graph. By analyzing the relationship between joint variables and workspace boundaries, the influence of joint variables parameters on workspace is further understood, which can provide reference for workspace optimization and control system research, and has important guiding significance for the structural design and practical application of dual-arm robots.


Nursing robot Monte carlo method MATLAB Joint variables, workspace 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Mechanical Engineering and AutomationBeihang UniversityBeijingChina
  2. 2.Beijing University of Civil Engineering and ArchitectureBeijingChina

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