中文摘要：

针对地震救援的复杂性、不确定性的问题，提出一种高负载自重比、功能集成的地震救援双臂机器人构型，对具有主从关系的冗余七自由度双臂建立运动学模型，建立驱动空间、关节空间、笛卡尔空间的映射关系，结合虚拟仿真技术分析了其运动学特性。采用概率学中的蒙特卡洛原理，运用MATLAB编程生成地震救援双臂机器人的工作空间云图及其协作空间，结果表明该机器人工作空间和协作空间足够大，可以满足工作要求，具备灵活作业的条件，继而为后续机器人的轨迹规划和实时控制的实现奠定了基础。

英文摘要：

Aiming at the complexity and uncertainty of earthquake rescue, this paper proposes a novel configuration of dual arm robot for earthquake rescue with a high load to weight ratio and the integration of functions. The kinematic model of the redundant 7-DOF dual arms with master-slave relationship is presented, and the mapping relation between the driving space, joint space and Cartesian space is established. The kinematic characteristics of robot is analyzed combined with the virtual simulation technology. Through the MATLAB programming, the Monte Carlo principle is used to generate the cloud images of workspace of the dual arm robot and its cooperative space. The results show that the workspace of the dual arm robot and its cooperative space are large enough to meet flexible operation requirements ,and it provides a theoretical basis for subsequent robot trajectory planning and real-time control research.