Design of dual arm robot manipulator using modular actuators with CAN communication networks

摘要

A dual arm robot manipulator has been developed. Almost dual arm robots or single robots are constructed in the fixed configuration, that is, motors, cables and mechanical parts are very complicatedly linked to each other.So it’s impossible to easily disassemble or reconfigure the robot. The developed dual arm robot is constructed by the modular actuators which have DC motor, amplifier, reduction gears and control board with CAN communication network. It is easy to assemble, disassemble and reconfigure it. The developed dual robot manipulator, the concept of hardware design, and the real-time PC-based controller will be introduced.