Dynamic simulation of the robot manipulator for mobile based rescue robot

A new concept of joint module with passive compliance was proposed for the dual arm manipulator of a rescue robot. Because this manipulator will be mounted on the mobile robot platform, it has to be able to absorb and overcome the impact from the environment. Vibration data of the mobile robot was obtained through the simulation. We performed dynamic simulation on the various condition and analyzed the required torque and the frequency response. Then, we manufactured the proposed module and carried out the experiment to identify its characteristics.