Development of dual arm robot platform for automatic assembly

Author

Dong Il Park ; Chanhun Park ; Hyunmin Do ; Taeyong Choi ; Jinho Kyung

Author_Institution

Dept. of Robot. & Mechatron., Korea Inst. of Machinery & Mater., Daejeon, South Korea

fYear

2014

fDate

22-25 Oct. 2014

Firstpage

319

Lastpage

321

Abstract

A dual arm robot is one of the most popular issue on the robotic field. Because a dual arm robot has two arms like humans, it can conduct the complex handling task and the jigless assembly task which cannot be performed by a single arm robot. Also, it is expected to substitute for humans and do better performance than humans in the industrial manufacturing. In the paper, we proposed a dual arm robot system with a mobile platform for the automatic assembly of electrical devices and it was developed through kinematic and dynamic analysis. Kinematic analysis was performed for the workspace and dynamic analysis was carried out for the robot specification.

Keywords

dexterous manipulators; electrical products; industrial manipulators; manipulator dynamics; manipulator kinematics; mobile robots; robotic assembly; automatic electrical device assembly; dual arm robot platform; dual arm robot system; dynamic analysis; industrial manufacturing; jigless assembly task; kinematic analysis; mobile platform; robot specification; Assembly; Kinematics; Manipulators; Mobile communication; Performance evaluation; Service robots; Dual arm robot; Dynamic simulation; Robot design; Workspace analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2014 14th International Conference on

Conference_Location

Seoul

ISSN

2093-7121

Print_ISBN

978-8-9932-1506-9

Type

conf

DOI

10.1109/ICCAS.2014.6988013

Filename

6988013