Abstract: The model of non-holonormic constraint joint mechanism based on dual over-running clutch and the control model are constructed according to the features of Cobot collaboration with human, and the simulation analysis is carried out. On the basis the model of Cobot trajectory control and its simulation model are built up, and the simulation research of Cobot following a desired trajectory is implemented. The simulation results illustrate that the Cobot can track a desired trajectory, and possess passive and constraint characteristics, and can accomplish collaboration with a human operator. The Cobot model can be applied in applications for material moving, parts assembly and some situations requiring man-machine cooperattion, and so on.

Key words: Cobot, Modeling, Non-holonomic constraint, Over-running clutch, Simulation