The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Design of High Payload Dual Arm Robot with Replaceable Forearm Module for Multiple Tasks: Human Rescue and Object Handling

임무에 따른 하박 교체형 고 가반하중 양팔로봇의 설계: 구난 및 물체 핸들링

  • Kim, Hwisu (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Dongil (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Choi, Taeyong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Do, Hyunmin (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kim, Doohyeong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kyung, Jinho (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Chanhun (Korea Institute of Machinery and Materials)
  • Received : 2017.10.17
  • Accepted : 2017.11.22
  • Published : 2017.11.30
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Abstract

Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.

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References

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