With the robot modeling and simulation software CoppeliaSim as the simulation environment, YouBot and the six-degree of freedom robot arm as the main body of the collaborative assembly line. Through analyzing the structure of the McNamum wheel of the moving chassis of YouBot robot, the relationship between the speed of each wheel and the attitude of the chassis is deduced, and its kinematics model is established. And the motion simulation is carried out. MDH method was adopted to carry out kinematics modeling of the manipulator arm of the cooperative robot, MATLAB and Python were used to implement motion trajectory planning, and remote API synchronous mode was used to control the cooperative robot in CoppeliaSim, so as to realize the simulation of the sorting, delivery and material transportation process of the assembly line cooperative robot. The simulation results show that this method can smoothly complete the sorting, delivery and transportation of materials.

Jianmin Chen, Wusheng Ji. Modeling and Simulation Verification of Pipeline Cooperative Robots. Academic Journal of Computing & Information Science (2023), Vol. 6, Issue 11: 159-168. https://doi.org/10.25236/AJCIS.2023.061120.

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