R&D of 4 DOF dual-arm cooperative robot-cooperation of location (position orientation) and motion

Proposes a type of dual-arm robot taking linking spindle, nut and cutter shank of a machine tool as an example. The task is achieved by making most use of the motion function of the operating objects and cooperative motion between the two arms of the robot and the operating object. It can be divided into 4 DOF, 3 DOF or 2 DOF robots based on the different motion functions of the operating objects.