The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Analysis and Design of the Dual Arm Manipulator for Rescue Robot

구난 로봇용 양팔 머니퓰레이터 진동 해석 및 설계

  • Park, Dong Il (Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials) ;
  • Park, Chanhun (Korea Institute of Machinery & Materials) ;
  • Kim, Doohyung (Korea Institute of Machinery & Materials) ;
  • Kyung, Jinho (Korea Institute of Machinery & Materials)
  • Received : 2016.10.27
  • Accepted : 2016.11.09
  • Published : 2016.11.30
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Abstract

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

Keywords

References

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