中文摘要：

文中对一种具有冗余结构的拟人双臂机器人进行研究。首先,采用D-H法建立机器人手臂的运动学模型,得到其运动学正解;其次,利用数值法在考虑各关节边界条件的基础上对其工作空间进行了分析,分别得到了单臂作业和双臂协同作业时工作空间的三维视图和二维截面图;最后,对其奇异性进行了分析。分析结果表明,该机器人双臂协同作业时具有较大的工作空间,为其后续的协同控制和轨迹规划提供理论依据。

英文摘要：

A redundant anthropomorphic dual-arm robot withredundant structure was studied. Firstly, the kinematics model of robot arm was modeled based on D-H theory and forward kinematics was obtained. Then, the workspace was analyzed by numerical method based on the boundary conditions of each joint.Workspace of single arm and dual-arm cooperative motion was shown by 3D view and 2D section view. Finally, the singularity was studied. The analysis shows that the robot has a large workspace when dual-arm motion works, which provides a basis for subsequent cooperative control and trajectory planning.