Design of high payload dual arm robot with modifiable forearm module depending on mission

Abstract

Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research we developed a high payload dual arm robot, in which the forearm module is modifiable depending on the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously.