Design and analysis of dual arm robot using dynamic simulation

摘要

Nowadays, interest in dual arm robot system is increasing with industrial necessity. Because a dual arm robot which has two arms and torso joints can substitute human's work and it is also expected to do better performance than human in the industrial field, there are a lot of research about the design and control of dual arm robot. In the paper, a dual arm robot for part assembly is designed through workspace analysis and dynamic motion simulation. We decided the robot dimension including torso joints using workspace analysis and the specification of each actuating module using dynamic simulation.