Development of dual arm robot platform for automatic assembly

摘要

A dual arm robot is one of the most popular issue on the robotic field. Because a dual arm robot has two arms like humans, it can conduct the complex handling task and the jigless assembly task which cannot be performed by a single arm robot. Also, it is expected to substitute for humans and do better performance than humans in the industrial manufacturing. In the paper, we proposed a dual arm robot system with a mobile platform for the automatic assembly of electrical devices and it was developed through kinematic and dynamic analysis. Kinematic analysis was performed for the workspace and dynamic analysis was carried out for the robot specification.