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2021•Unpublished venueRequires access

Development of A Novel Dual-arm Robot via Modular Actuator

Weijun Wang, Jiangtao Hu, Xiaofeng Yang, Tian Xie, Chaoyang Ma, Wenjie Li

Open publisher page 3 citations

Abstract

In this paper, the development of a novel dual-arm robot is introduced. With the use of modular actuator technology, a dual-arm robot consists of two 7-degree-of-freedom (7-DOF) robotic arms. The robot's high degree of freedom enables it to effectively avoid the joint limitations and singularities of the arm. A solo controller for both arms is proposed and this dual-arm robot has the human sized body and arms. Firstly, a modular actuator is presented and a dual-arm robot is introduced. Then, the kinematic and dynamic analysis for this dual-arm robot is presented. Finally, the prototype of this dual-arm robot is presented and discussed.

About this research paper

What this paper is about

In this paper, the development of a novel dual-arm robot is introduced. With the use of modular actuator technology, a dual-arm robot consists of two 7-degree-of-freedom (7-DOF) robotic arms. The robot's high degree of freedom enables it to effectively avoid the joint limitations and singularities of the arm. A solo controller for both arms is proposed and this dual-arm robot has the human sized body and arms. Firstly, a modular actuator is presented and a dual-arm robot is introduced. Then, the kinematic and dynamic analysis for this dual-arm robot is presented. Finally, the prototype of this dual-arm robot is presented and discussed.

Why it matters

OpenAlex reports 3 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

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Method / approach

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Available abstract

In this paper, the development of a novel dual-arm robot is introduced. With the use of modular actuator technology, a dual-arm robot consists of two 7-degree-of-freedom (7-DOF) robotic arms. The robot's high degree of freedom enables it to effectively avoid the joint limitations and singularities of the arm. A solo controller for both arms is proposed and this dual-arm robot has the human sized body and arms. Firstly, a modular actuator is presented and a dual-arm robot is introduced. Then, the kinematic and dynamic analysis for this dual-arm robot is presented. Finally, the prototype of this dual-arm robot is presented and discussed.

Key concepts: Arm solution, Robotic arm, Actuator, Robot, Modular design, Kinematics, Robot kinematics, Robot end effector

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