Development of A Novel Dual-arm Robot via Modular Actuator

摘要

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.