In view of the problems that the existing dual-arm robots with six or seven degrees of freedom on a single side have excessive redundant degrees of freedom,resulting in high manufacturing costs,complex con-trol and difficulties in achieving mass production and application,a dual-arm collaborative robot with five degrees of freedom on a single side was designed.Firstly,the structure of the robotic arm was constructed and a mathematical model was established based on the D-H parameter method to complete the forward and inverse kinematics analysis.Then,MATLAB and the Monte Carlo method were applied to conduct the work-space analysis.The results showed that the robot had a wide workspace,strong adaptability and reasonable parameters.Finally,simulation verification experiments were carried out using Adams,and the simulation results verified the possibility of dual-arm collaboration and the rationality of the structural design.
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