Paper Info
Title
Design of an anthropomorphic dual-arm robot with biologically inspired 8-DOF arms.
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.
Year
DOI
Venue
2017
10.1007/s11370-017-0215-z
Intelligent Service Robotics
Keywords
Field
DocType
Bimanual manipulation, Dual-arm manipulation, Dexterous manipulation, Redundant manipulator
Computer vision,Kinematics,Computer science,Simulation,Settling time,Workspace,Manipulator,Artificial intelligence,Robot,Dexterous manipulation,Mobile manipulator
Journal
Volume
Issue
ISSN
10
2
1861-2784
Citations 
PageRank 
References 
3
0.47
10
Authors
5
Name
Order
Citations
PageRank
Dong-Hyuk Lee1102.67
Hyeonjun Park2183.66
Jae-Han Park3318.60
Moonhong Baeg4407.51
Ji-hun Bae513419.83