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Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms

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Abstract

From the perspective of kinematics, dual-arm manipulation in robots differs from single-arm manipulation in that it requires high dexterity in a specific region of the manipulator’s workspace. This feature has motivated research on the specialized design of manipulators for dual-arm robots. These recently introduced robots often utilize a shoulder structure with a tilted angle of some magnitude. The tilted shoulder yields better kinematic performance for dual-arm manipulation, such as a wider common workspace for each arm. However, this method tends to reduce total workspace volume, which results in lower kinematic performance for single-arm tasks in the outer region of the workspace. To overcome this trade-off, the authors of this study propose a design for a dual-arm robot with a biologically inspired four degree-of-freedom shoulder mechanism. This study analyzes the kinematic performance of the proposed design and compares it with that of a conventional dual-arm robot from the perspective of workspace and single-/dual-arm manipulability. The comparative analysis revealed that the proposed structure can significantly enhance single- and dual-arm kinematic performance in comparison with conventional dual-arm structures. This superior kinematic performance was verified through experiments, which showed that the proposed method required shorter settling time and trajectory-following performance than the conventional dual-arm robot.

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Acknowledgements

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2016R1A6A3A04012911).

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Authors and Affiliations

  1. Robot Control and Cognition Lab., Robot R&D Group, Korea Institute of Industrial Technology (KITECH), Ansan, Korea

    Dong-Hyuk Lee, Hyeonjun Park, Jae-Han Park, Moon-Hong Baeg & Ji-Hun Bae

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  1. Dong-Hyuk Lee
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  2. Hyeonjun Park
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  3. Jae-Han Park
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  4. Moon-Hong Baeg
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  5. Ji-Hun Bae
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Correspondence to Ji-Hun Bae.

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Lee, DH., Park, H., Park, JH. et al. Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms. Intel Serv Robotics 10, 137–148 (2017). https://doi.org/10.1007/s11370-017-0215-z

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  • DOI: https://doi.org/10.1007/s11370-017-0215-z

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