Dynamic Workspace Analysis of Two Cooperating Robot Arms

One of the advantages of using two or more robot arms to perform the same task is the increased load carrying, handling, and manipulation capability. It is necessary to know the maximum force/moment that the robots can generate jointly at each point within their common workspace. This is the main subject of dynamic workspace analysis. In this paper, we develop a conceptually simple procedure to solve this problem. This procedure models the two cooperating robot arms as a closed chain system and is based on the theory of linear transformations and the properties of mechanics.